git-master/Math_8h_source.html

/*

 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)

 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium

 * SPDX-License-Identifier: BSD-3-Clause

 */


#ifndef YARP_MATH_MATH_H

#define YARP_MATH_MATH_H


#include <yarp/sig/Vector.h>

#include <yarp/sig/Matrix.h>

#include <yarp/math/api.h>

#include <yarp/math/Quaternion.h>


YARP_math_API yarp::sig::Vector operator+(const yarp::sig::Vector &a, const double &s);


YARP_math_API yarp::sig::Vector operator+(const double &s, const yarp::sig::Vector &a);


YARP_math_API yarp::sig::Vector& operator+=(yarp::sig::Vector &a, const double &s);


YARP_math_API yarp::sig::Vector operator+(const yarp::sig::Vector &a, const yarp::sig::Vector &b);


YARP_math_API yarp::sig::Vector& operator+=(yarp::sig::Vector &a, const yarp::sig::Vector &b);


YARP_math_API yarp::sig::Matrix operator+(const yarp::sig::Matrix &a, const yarp::sig::Matrix &b);


YARP_math_API yarp::sig::Matrix& operator+=(yarp::sig::Matrix &a, const yarp::sig::Matrix &b);


YARP_math_API yarp::sig::Vector operator-(const yarp::sig::Vector &a, const double &s);


YARP_math_API yarp::sig::Vector operator-(const double &s, const yarp::sig::Vector &a);


YARP_math_API yarp::sig::Vector& operator-=(yarp::sig::Vector &a, const double &s);


YARP_math_API yarp::sig::Vector operator-(const yarp::sig::Vector &a, const yarp::sig::Vector &b);


YARP_math_API yarp::sig::Vector& operator-=(yarp::sig::Vector &a, const yarp::sig::Vector &b);


YARP_math_API yarp::sig::Matrix operator-(const yarp::sig::Matrix &a, const yarp::sig::Matrix &b);


YARP_math_API yarp::sig::Matrix& operator-=(yarp::sig::Matrix &a, const yarp::sig::Matrix &b);


YARP_math_API yarp::sig::Vector operator*(double k, const yarp::sig::Vector &b);


YARP_math_API yarp::sig::Vector operator*(const yarp::sig::Vector &b, double k);


YARP_math_API yarp::sig::Vector& operator*=(yarp::sig::Vector &b, double k);


YARP_math_API yarp::sig::Vector operator*(const yarp::sig::Vector &a,

    const yarp::sig::Matrix &m);


YARP_math_API yarp::sig::Vector& operator*=(yarp::sig::Vector &a, const yarp::sig::Matrix &m);


 YARP_math_API yarp::sig::Vector operator*(const yarp::sig::Matrix &m,

    const yarp::sig::Vector &a);


YARP_math_API yarp::sig::Matrix operator*(const yarp::sig::Matrix &a, const yarp::sig::Matrix &b);


YARP_math_API yarp::sig::Matrix& operator*=(yarp::sig::Matrix &a, const yarp::sig::Matrix &b);


YARP_math_API yarp::sig::Matrix operator*(const double k, const yarp::sig::Matrix &M);


YARP_math_API yarp::sig::Matrix operator*(const yarp::sig::Matrix &M, const double k);


YARP_math_API yarp::sig::Matrix& operator*=(yarp::sig::Matrix &M, const double k);


YARP_math_API yarp::sig::Vector operator*(const yarp::sig::Vector &a, const yarp::sig::Vector &b);


YARP_math_API yarp::sig::Vector& operator*=(yarp::sig::Vector &a, const yarp::sig::Vector &b);


YARP_math_API yarp::math::Quaternion operator*(const yarp::math::Quaternion& a, const yarp::math::Quaternion& b);


YARP_math_API yarp::sig::Vector operator/(const yarp::sig::Vector &a, const yarp::sig::Vector &b);


YARP_math_API yarp::sig::Vector& operator/=(yarp::sig::Vector &a, const yarp::sig::Vector &b);


YARP_math_API yarp::sig::Vector operator/(const yarp::sig::Vector &b, double k);


YARP_math_API yarp::sig::Vector& operator/=(yarp::sig::Vector &b, double k);


YARP_math_API yarp::sig::Matrix operator/(const yarp::sig::Matrix &M, double k);


YARP_math_API yarp::sig::Matrix& operator/=(yarp::sig::Matrix &M, double k);


namespace yarp::math {

YARP_math_API yarp::sig::Matrix pile(const yarp::sig::Matrix& m1, const yarp::sig::Matrix& m2);


YARP_math_API yarp::sig::Matrix pile(const yarp::sig::Vector& v, const yarp::sig::Matrix& m);


YARP_math_API yarp::sig::Matrix pile(const yarp::sig::Matrix& m, const yarp::sig::Vector& v);


YARP_math_API yarp::sig::Matrix pile(const yarp::sig::Vector& v1, const yarp::sig::Vector& v2);


YARP_math_API yarp::sig::Matrix cat(const yarp::sig::Matrix& m1, const yarp::sig::Matrix& m2);


YARP_math_API yarp::sig::Matrix cat(const yarp::sig::Matrix& m, const yarp::sig::Vector& v);


YARP_math_API yarp::sig::Matrix cat(const yarp::sig::Vector& v, const yarp::sig::Matrix& m);


YARP_math_API yarp::sig::Vector cat(const yarp::sig::Vector& v1, const yarp::sig::Vector& v2);


YARP_math_API yarp::sig::Vector cat(const yarp::sig::Vector& v, double s);


YARP_math_API yarp::sig::Vector cat(double s, const yarp::sig::Vector& v);


YARP_math_API yarp::sig::Vector cat(double s1, double s2);


YARP_math_API yarp::sig::Vector cat(double s1, double s2, double s3);


YARP_math_API yarp::sig::Vector cat(double s1, double s2, double s3, double s4);


YARP_math_API yarp::sig::Vector cat(double s1, double s2, double s3, double s4, double s5);


YARP_math_API double dot(const yarp::sig::Vector& a, const yarp::sig::Vector& b);


YARP_math_API yarp::sig::Matrix outerProduct(const yarp::sig::Vector& a, const yarp::sig::Vector& b);


YARP_math_API yarp::sig::Vector cross(const yarp::sig::Vector& a, const yarp::sig::Vector& b);


YARP_math_API yarp::sig::Matrix crossProductMatrix(const yarp::sig::Vector& v);


YARP_math_API bool crossProductMatrix(const yarp::sig::Vector& v, yarp::sig::Matrix& res);


YARP_math_API double norm(const yarp::sig::Vector& v);


YARP_math_API double norm2(const yarp::sig::Vector& v);


YARP_math_API double findMax(const yarp::sig::Vector& v);


YARP_math_API double findMin(const yarp::sig::Vector& v);


YARP_math_API yarp::sig::Vector zeros(int s);


YARP_math_API yarp::sig::Vector ones(int s);


YARP_math_API yarp::sig::Matrix eye(int r, int c);


YARP_math_API yarp::sig::Matrix eye(int n);


YARP_math_API yarp::sig::Matrix zeros(int r, int c);


YARP_math_API double det(const yarp::sig::Matrix& in);


YARP_math_API yarp::sig::Matrix luinv(const yarp::sig::Matrix& in);


YARP_math_API bool eigenValues(const yarp::sig::Matrix& in, yarp::sig::Vector& real, yarp::sig::Vector& img);


// YARP_math_API yarp::sig::Matrix chinv(const yarp::sig::Matrix& in);


YARP_math_API double sign(const double& v);


YARP_math_API yarp::sig::Vector sign(const yarp::sig::Vector& v);


YARP_math_API yarp::sig::Vector dcm2axis(const yarp::sig::Matrix& R);


YARP_math_API yarp::sig::Matrix axis2dcm(const yarp::sig::Vector& v);


YARP_math_API yarp::sig::Vector dcm2euler(const yarp::sig::Matrix& R);


YARP_math_API yarp::sig::Matrix euler2dcm(const yarp::sig::Vector& euler);


YARP_math_API yarp::sig::Vector dcm2rpy(const yarp::sig::Matrix& R);


YARP_math_API yarp::sig::Matrix rpy2dcm(const yarp::sig::Vector& rpy);


YARP_math_API yarp::sig::Vector dcm2ypr(const yarp::sig::Matrix& R);


YARP_math_API yarp::sig::Matrix ypr2dcm(const yarp::sig::Vector& ypr);


YARP_math_API yarp::sig::Matrix SE3inv(const yarp::sig::Matrix& H);


YARP_math_API yarp::sig::Matrix adjoint(const yarp::sig::Matrix& H);


YARP_math_API yarp::sig::Matrix adjointInv(const yarp::sig::Matrix& H);

} // namespace yarp::math


#endif // YARP_MATH_MATH_H

operator*=
yarp::sig::Vector & operator*=(yarp::sig::Vector &b, double k)
Vector-scalar product operator (defined in Math.h).
Definition math.cpp:154

operator+
yarp::sig::Vector operator+(const yarp::sig::Vector &a, const double &s)
Mathematical operations.
Definition math.cpp:27

operator-=
yarp::sig::Vector & operator-=(yarp::sig::Vector &a, const double &s)
Subtraction operator between a vector and a scalar (defined in Math.h).
Definition math.cpp:98

operator/=
yarp::sig::Vector & operator/=(yarp::sig::Vector &a, const yarp::sig::Vector &b)
Vector-vector element-wise division operator (defined in Math.h).
Definition math.cpp:266

operator-
yarp::sig::Vector operator-(const yarp::sig::Vector &a, const double &s)
Subtraction operator between a vector and a scalar (defined in Math.h).
Definition math.cpp:82

operator/
yarp::sig::Vector operator/(const yarp::sig::Vector &a, const yarp::sig::Vector &b)
Vector-vector element-wise division operator (defined in Math.h).
Definition math.cpp:260

operator+=
yarp::sig::Vector & operator+=(yarp::sig::Vector &a, const double &s)
Addition operator between a scalar and a vector (defined in Math.h).
Definition math.cpp:38

operator*
yarp::sig::Vector operator*(double k, const yarp::sig::Vector &b)
Scalar-vector product operator (defined in Math.h).
Definition math.cpp:143

Matrix.h
contains the definition of a Matrix type

Quaternion.h

Vector.h
contains the definition of a Vector type

yarp::math::Quaternion
Definition Quaternion.h:22

yarp::sig::Matrix
A class for a Matrix.
Definition Matrix.h:39

yarp::sig::VectorOf< double >

yarp::math
Definition FrameTransform.h:14

yarp::math::eye
yarp::sig::Matrix eye(int r, int c)
Build an identity matrix (defined in Math.h).
Definition math.cpp:586

yarp::math::cat
yarp::sig::Matrix cat(const yarp::sig::Matrix &m1, const yarp::sig::Matrix &m2)
Matrix-Matrix concatenation by row (defined in Math.h).
Definition math.cpp:363

yarp::math::norm
double norm(const yarp::sig::Vector &v)
Returns the Euclidean norm of the vector (defined in Math.h).
Definition math.cpp:538

yarp::math::cross
yarp::sig::Vector cross(const yarp::sig::Vector &a, const yarp::sig::Vector &b)
Compute the cross product between two vectors (defined in Math.h).
Definition math.cpp:496

yarp::math::ones
yarp::sig::Vector ones(int s)
Creates a vector of ones (defined in Math.h).
Definition math.cpp:581

yarp::math::dcm2ypr
yarp::sig::Vector dcm2ypr(const yarp::sig::Matrix &R)
Converts a dcm (direction cosine matrix) rotation matrix to yaw-roll-pitch angles (defined in Math....
Definition math.cpp:863

yarp::math::eigenValues
bool eigenValues(const yarp::sig::Matrix &in, yarp::sig::Vector &real, yarp::sig::Vector &img)
Computes eigenvalues of the n-by-n real nonsymmetric matrix (defined in Math.h).
Definition math.cpp:624

yarp::math::crossProductMatrix
yarp::sig::Matrix crossProductMatrix(const yarp::sig::Vector &v)
Compute the cross product matrix, that is a 3-by-3 skew-symmetric matrix (defined in Math....
Definition math.cpp:507

yarp::math::norm2
double norm2(const yarp::sig::Vector &v)
Returns the Euclidean squared norm of the vector (defined in Math.h).
Definition math.cpp:543

yarp::math::det
double det(const yarp::sig::Matrix &in)
Computes the determinant of a matrix (defined in Math.h).
Definition math.cpp:607

yarp::math::SE3inv
yarp::sig::Matrix SE3inv(const yarp::sig::Matrix &H)
Returns the inverse of a 4 by 4 rototranslational matrix (defined in Math.h).
Definition math.cpp:912

yarp::math::adjointInv
yarp::sig::Matrix adjointInv(const yarp::sig::Matrix &H)
Returns the inverse of the adjoint matrix of a given roto-translational matrix (defined in Math....
Definition math.cpp:959

yarp::math::zeros
yarp::sig::Vector zeros(int s)
Creates a vector of zeros (defined in Math.h).
Definition math.cpp:576

yarp::math::findMax
double findMax(const yarp::sig::Vector &v)
Returns the maximum of the elements of a real vector (defined in Math.h).
Definition math.cpp:548

yarp::math::rpy2dcm
yarp::sig::Matrix rpy2dcm(const yarp::sig::Vector &rpy)
Converts roll-pitch-yaw angles in the corresponding dcm (direction cosine matrix) rotation matrix (de...
Definition math.cpp:847

yarp::math::sign
double sign(const double &v)
Invert a symmetric and positive definite matrix using Cholesky decomposition (defined in Math....
Definition math.cpp:657

yarp::math::findMin
double findMin(const yarp::sig::Vector &v)
Returns the minimum of the elements of a real vector (defined in Math.h).
Definition math.cpp:562

yarp::math::adjoint
yarp::sig::Matrix adjoint(const yarp::sig::Matrix &H)
Returns the adjoint matrix of a given roto-translational matrix (defined in Math.h).
Definition math.cpp:933

yarp::math::ypr2dcm
yarp::sig::Matrix ypr2dcm(const yarp::sig::Vector &ypr)
Converts yaw-pitch-roll angles in the corresponding dcm (direction cosine matrix) rotation matrix (de...
Definition math.cpp:896

yarp::math::dot
double dot(const yarp::sig::Vector &a, const yarp::sig::Vector &b)
Scalar product between vectors (defined in Math.h).
Definition math.cpp:475

yarp::math::dcm2euler
yarp::sig::Vector dcm2euler(const yarp::sig::Matrix &R)
Converts a dcm (direction cosine matrix) rotation matrix to euler angles (ZYZ) (defined in Math....
Definition math.cpp:753

yarp::math::axis2dcm
yarp::sig::Matrix axis2dcm(const yarp::sig::Vector &v)
Returns a dcm (direction cosine matrix) rotation matrix R from axis/angle representation (defined in ...
Definition math.cpp:715

yarp::math::luinv
yarp::sig::Matrix luinv(const yarp::sig::Matrix &in)
Invert a square matrix using LU-decomposition (defined in Math.h).
Definition math.cpp:612

yarp::math::euler2dcm
yarp::sig::Matrix euler2dcm(const yarp::sig::Vector &euler)
Converts euler angles (ZYZ) vector in the corresponding dcm (direction cosine matrix) rotation matrix...
Definition math.cpp:792

yarp::math::dcm2rpy
yarp::sig::Vector dcm2rpy(const yarp::sig::Matrix &R)
Converts a dcm (direction cosine matrix) rotation matrix to roll-pitch-yaw angles (defined in Math....
Definition math.cpp:808

yarp::math::outerProduct
yarp::sig::Matrix outerProduct(const yarp::sig::Vector &a, const yarp::sig::Vector &b)
Outer product between vectors (defined in Math.h).
Definition math.cpp:483

yarp::math::pile
yarp::sig::Matrix pile(const yarp::sig::Matrix &m1, const yarp::sig::Matrix &m2)
Matrix-Matrix concatenation by column (defined in Math.h).
Definition math.cpp:311

yarp::math::dcm2axis
yarp::sig::Vector dcm2axis(const yarp::sig::Matrix &R)
Converts a dcm (direction cosine matrix) rotation matrix R to axis/angle representation (defined in M...
Definition math.cpp:673

api.h

YARP_math_API
#define YARP_math_API
Definition api.h:17