Commit a3230ec41c77093f716d22f6df495ece01239c38 - ignition-math

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.github/CODEOWNERS less more

	0	# More info:
	1	# https://help.github.com/en/github/creating-cloning-and-archiving-repositories/about-code-owners
	2
	3	* @scpeters
	4	tutorials/* @maryaB-osr

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.github/ci/after_make.sh less more

	0	#!/bin/sh -l
	1
	2	set -x
	3
	4	BUILD_DIR=`pwd`
	5
	6	# Install
	7	make install
	8
	9	# Compile examples
	10	cd ../examples
	11	mkdir build
	12	cd build
	13	cmake ..
	14	make
	15	./graph_example
	16
	17	cd $BUILD_DIR

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.github/ci/packages.apt less more

	0	libeigen3-dev
	1	libignition-cmake2-dev
	2	ruby-dev
	3	swig

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.github/workflows/ci.yml less more

	0	name: Ubuntu CI
	1
	2	on: [push, pull_request]
	3
	4	jobs:
	5	bionic-ci:
	6	runs-on: ubuntu-latest
	7	name: Ubuntu Bionic CI
	8	steps:
	9	- name: Checkout
	10	uses: actions/checkout@v2
	11	- name: Compile and test
	12	id: ci
	13	uses: ignition-tooling/action-ignition-ci@master
	14	with:
	15	codecov-token: ${{ secrets.CODECOV_TOKEN }}
	16	focal-ci:
	17	runs-on: ubuntu-latest
	18	name: Ubuntu Focal CI
	19	steps:
	20	- name: Checkout
	21	uses: actions/checkout@v2
	22	- name: Compile and test
	23	id: ci
	24	uses: ignition-tooling/action-ignition-ci@focal

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.github/workflows/pr-collection-labeler.yml less more

	0	name: PR Collection Labeler
	1
	2	on: pull_request_target
	3
	4	jobs:
	5	pr_collection_labeler:
	6	runs-on: ubuntu-latest
	7	steps:
	8	- name: Add collection labels
	9	if: github.event.action == 'opened'
	10	uses: ignition-tooling/pr-collection-labeler@v1
	11	with:
	12	github-token: ${{ secrets.GITHUB_TOKEN }}

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.github/workflows/triage.yml less more

	0	on:
	1	issues:
	2	types: [opened]
	3	pull_request_target:
	4	types: [opened]
	5	name: Ticket opened
	6	jobs:
	7	assign:
	8	name: Add ticket to inbox
	9	runs-on: ubuntu-latest
	10	steps:
	11	- name: Add ticket to inbox
	12	uses: technote-space/create-project-card-action@v1
	13	with:
	14	PROJECT: Core development
	15	COLUMN: Inbox
	16	GITHUB_TOKEN: ${{ secrets.TRIAGE_TOKEN }}
	17	CHECK_ORG_PROJECT: true
	18

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.gitignore less more

	0	# CMake folders
	1	build
	2	build_*
	3
	4	# OS generated files
	5	.DS_Store
	6	*.swp

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CMakeLists.txt less more

2	2	#============================================================================
3	3	# Initialize the project
4	4	#============================================================================
5		project(ignition-math6 VERSION 6.4.0)
	5	project(ignition-math6 VERSION 6.7.0)
6	6
7	7	#============================================================================
8	8	# Find ignition-cmake

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CONTRIBUTING.md less more

0		See the [Ignition Robotics contributing guide](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/default/CONTRIBUTING.md).
	0	See the [Ignition Robotics contributing guide](https://ignitionrobotics.org/docs/all/contributing).

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Changelog.md less more

0	0	## Ignition Math 6.x
1	1
2		### Ignition Math 6.4.0
	2	## Ignition Math 6.x.x
	3
	4	## Ignition Math 6.7.0 (2020-1X-XX)
	5
	6	1. Capsule: new shape class with inertia calculation method
	7	* [Pull request 163](https://github.com/ignitionrobotics/ign-math/pull/163)
	8
	9	1. Add missing header to Color.hh
	10	* [Pull request 162](https://github.com/ignitionrobotics/ign-math/pull/162)
	11
	12	1. Improve tests of `Vector2`, `Vector3`, `Vector4`, `Quaternion`, and `Pose3`
	13	* [Pull request 172](https://github.com/ignitionrobotics/ign-math/pull/172)
	14	* [Pull request 173](https://github.com/ignitionrobotics/ign-math/pull/173)
	15	* [Pull request 174](https://github.com/ignitionrobotics/ign-math/pull/174)
	16	* [Issue 76](https://github.com/ignitionrobotics/ign-math/issues/76)
	17
	18	1. Pose3: document `operator*`
	19	* [Pull request 170](https://github.com/ignitionrobotics/ign-math/pull/170)
	20
	21	1. Quaternion: add Normalized() method
	22	* [Pull request 169](https://github.com/ignitionrobotics/ign-math/pull/169)
	23
	24	1. Vector2: add Round(), Rounded() methods
	25	* [Pull request 166](https://github.com/ignitionrobotics/ign-math/pull/166)
	26	* [Issue 71](https://github.com/ignitionrobotics/ign-math/issues/71)
	27
	28	1. Add test for printing `inf` `Vector3`
	29	* [Pull request 168](https://github.com/ignitionrobotics/ign-math/pull/168)
	30	* [Issue 64](https://github.com/ignitionrobotics/ign-math/issues/64)
	31
	32	## Ignition Math 6.6.0 (2020-09-16)
	33
	34	1. Add chrono duration helper functions
	35	* [Pull request 158](https://github.com/ignitionrobotics/ign-math/pull/158)
	36
	37	## Ignition Math 6.5.0 (2020-09-04)
	38
	39	1. Add string to time function
	40	* [Pull request 152](https://github.com/ignitionrobotics/ign-math/pull/152)
	41
	42	1. Added functions to convert between time_point and secNsec
	43	* [Pull request 150](https://github.com/ignitionrobotics/ign-math/pull/150)
	44
	45	1. Fix IGNITION_MATH_XXX_VERSION
	46	* [Pull request 151](https://github.com/ignitionrobotics/ign-math/pull/151)
	47
	48	1. Add Max and Min function to Vector2.hh
	49	* [Pull request 133](https://github.com/ignitionrobotics/ign-math/pull/133)
	50	* [Pull request 148](https://github.com/ignitionrobotics/ign-math/pull/148)
	51	* [Issue 71](https://github.com/ignitionrobotics/ign-math/issues/71)
	52
	53	1. Round, Rounded, Correct, Distance(x, y, z, w) and operator< addition to Vector 4
	54	* [Pull request 146](https://github.com/ignitionrobotics/ign-math/pull/146)
	55	* [Issue 71](https://github.com/ignitionrobotics/ign-math/issues/71)
	56
	57	1. Sum and normalized functions for Vector4
	58	* [Pull request 140](https://github.com/ignitionrobotics/ign-math/pull/140)
	59	* [Issue 71](https://github.com/ignitionrobotics/ign-math/issues/71)
	60
	61	1. Vector4 Ruby tests - Vector4.i and Vector4_TEST.rb
	62	* [Pull request 137](https://github.com/ignitionrobotics/ign-math/pull/137)
	63	* [Issue 71](https://github.com/ignitionrobotics/ign-math/issues/71)
	64
	65	1. Vector3 to vector4 functions
	66	* [Pull request 132](https://github.com/ignitionrobotics/ign-math/pull/132)
	67	* [Issue 71](https://github.com/ignitionrobotics/ign-math/issues/71)
	68
	69	1. Update vector2 fuctions from vector3
	70	* [Pull request 130](https://github.com/ignitionrobotics/ign-math/pull/130)
	71	* [Issue 71](https://github.com/ignitionrobotics/ign-math/issues/71)
	72
	73	1. Add Abs, Dot and AbsDot and respective tests to Vector4
	74	* [Pull request 135](https://github.com/ignitionrobotics/ign-math/pull/135)
	75	* [Issue 71](https://github.com/ignitionrobotics/ign-math/issues/71)
	76
	77	1. Create abs, absDot and Correct functions for Vector2d
	78	* [Pull request 143](https://github.com/ignitionrobotics/ign-math/pull/143)
	79	* [Issue 71](https://github.com/ignitionrobotics/ign-math/issues/71)
	80
	81	1. Document Ruby tests
	82	* [Pull request 145](https://github.com/ignitionrobotics/ign-math/pull/145)
	83
	84	1. Add header for numeric_limits allowing build on ubuntu 16.04
	85	* [Pull request 119](https://github.com/ignitionrobotics/ign-math/pull/119)
	86
	87	1. Add setter/getter for Pose's each element
	88	* [Pull request 125](https://github.com/ignitionrobotics/ign-math/pull/125)
	89	* [Issue 35](https://github.com/ignitionrobotics/ign-math/issues/35)
	90
	91	1. Implement AxisAlignedBox Volume function
	92	* [Pull request 126](https://github.com/ignitionrobotics/ign-math/pull/126)
	93
	94	1. Add operator + for AxisAlignedBox and Vector3.
	95	* [Pull request 122](https://github.com/ignitionrobotics/ign-math/pull/122)
	96
	97	1. Make alpha optional when parsing a Color from an input stream.
	98	* [Pull request 106](https://github.com/ignitionrobotics/ign-math/pull/106)
	99
	100	1. GitHub actions CI and workflow updates
	101	* [Pull request 117](https://github.com/ignitionrobotics/ign-math/pull/117)
	102	* [Pull request 139](https://github.com/ignitionrobotics/ign-math/pull/139)
	103	* [Pull request 110](https://github.com/ignitionrobotics/ign-math/pull/110)
	104
	105	1. Added a Gauss-Markov Process class.
	106	* [BitBucket pull request 342](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/342)
	107
	108	1. Fix bug in Inertial addition of off-diagonal moment of inertia terms with pose offsets.
	109	* [BitBucket pull request 344](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/344)
	110
	111	1. Create FAKE_INSTALL target so example compilation can be tested without doing a real install.
	112	* Angle: [BitBucket pull request 335](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/335)
	113
	114	1. Updating documentation.
	115	* Angle: [BitBucket pull request 325](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/325)
	116
	117	1. GraphAlgorithms: add ToUndirected(DirectedGraph) that copies to an UndirectedGraph.
	118	* [BitBucket pull request 332](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/332)
	119
	120	1. Doxygen fixes for graph classes
	121	* [BitBucket pull request 331](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/331)
	122
	123	## Ignition Math 6.4.0
3	124
4	125	1. Added a function that rounds up a number to the nearest multiple of
5	126	another number.
6		* [Pull request 318](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/318)
	127	* [BitBucket pull request 318](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/318)
7	128
8	129	### Ignition Math 6.3.0
9	130
10		1. Added Odometry class that computes odometry for a two wheeled vehicle.
11		* [Pull request 313](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/313)
12
13		1. Added RollingMean class.
14		* [Pull request 314](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/314)
	131	1. Added Odometry class that computes odometry for a two wheeled vehicle.
	132	* [BitBucket pull request 313](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/313)
	133
	134	1. Added RollingMean class.
	135	* [BitBucket pull request 314](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/314)
15	136
16	137	### Ignition Math 6.2.0
17	138
18	139	1. eigen3: Use linear() instead of rotation() to prevent computation of SVD
19		* [Pull request 311](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/311)
	140	* [BitBucket pull request 311](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/311)
20	141
21	142	1. Change definition of Pose3 `*` operator to fix multiplication order
22		* [Pull request 301](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/301)
23		* [Issue 60](https://bitbucket.org/ignitionrobotics/ign-math/issues/60)
	143	* [BitBucket pull request 301](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/301)
	144	* [Issue 60](https://github.com/ignitionrobotics/ign-math/issues/60)
24	145
25	146	### Ignition Math 6.1.0
26	147
27	148	1. eigen3: add conversion functions for Eigen::AlignedBox3d <=> ignition::math::AxisAlignedBox
28		* [Pull request 302](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/302)
	149	* [BitBucket pull request 302](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/302)
29	150
30	151	### Ignition Math 6.0.0
31	152
32	153	1. Helper function that converts from `std::chrono::steady_clock::duration` to
33	154	{seconds, nanoseconds}.
34		* [Pull request XXX](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/XXX)
	155	* [BitBucket pull request XXX](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/XXX)
35	156
36	157	1. Upgrade to c++17.
37		* [Pull request 268](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/268)
	158	* [BitBucket pull request 268](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/268)
38	159
39	160	## Ignition Math 5.x
40	161
41	162	### Ignition Math 5.x.x
42	163
	164	### Ignition Math 5.1.0 (2019-09-11)
	165
	166	1. GraphAlgorithms: add ToUndirected(DirectedGraph) that copies to an UndirectedGraph.
	167	* [BitBucket pull request 332](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/332)
	168
	169	1. Doxygen fixes for graph classes
	170	* [BitBucket pull request 331](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/331)
	171
43	172	1. eigen3: Use linear() instead of rotation() to prevent computation of SVD
44		* [Pull request 312](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/312)
	173	* [BitBucket pull request 312](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/312)
45	174
46	175	1. Change definition of Pose3 `*` operator to fix multiplication order
47		* [Pull request 301](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/301)
48		* [Issue 60](https://bitbucket.org/ignitionrobotics/ign-math/issues/60)
	176	* [BitBucket pull request 301](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/301)
	177	* [Issue 60](https://github.com/ignitionrobotics/ign-math/issues/60)
49	178
50	179	1. eigen3: add conversion functions for Eigen::AlignedBox3d <=> ignition::math::AxisAlignedBox
51		* [Pull request 302](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/302)
	180	* [BitBucket pull request 302](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/302)
52	181
53	182
54	183	### Ignition Math 5.0.0 (2018-12-12)
55	184
56	185	1. Added a Stopwatch class
57		* [Pull request 279](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/279)
	186	* [BitBucket pull request 279](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/279)
58	187
59	188	1. Added material properties to OrientedBox
60		* [Pull request 269](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/269)
	189	* [BitBucket pull request 269](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/269)
61	190
62	191	1. Added a Cylinder class.
63		* [Pull request 250](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/250)
	192	* [BitBucket pull request 250](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/250)
64	193
65	194	1. The `Box` class has been changed to a templatized class that is not
66	195	axis-aligned. The previous `Box` functionality is now in the
67	196	`AxisAlignedBox` class.
68		* [Pull request 257](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/257)
	197	* [BitBucket pull request 257](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/257)
69	198
70	199	1. Added eigen3 component with functions for converting between Eigen and ign-math types.
71		* [Pull request 256](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/256)
	200	* [BitBucket pull request 256](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/256)
72	201
73	202	1. Added a `MassMatrix3::SetFromCylinder` function that uses a `Material`
74	203	to specify a density.
75		* [Pull request 248](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/248)
	204	* [BitBucket pull request 248](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/248)
76	205
77	206	1. Added a Sphere class.
78		* [Pull request 255](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/255)
	207	* [BitBucket pull request 255](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/255)
79	208
80	209	1. Added a `MassMatrix3::SetFromSphere` function that uses a `Material` to
81	210	specify a density.
82		* [Pull request 247](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/247)
	211	* [BitBucket pull request 247](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/247)
83	212
84	213	1. Added a `MassMatrix3::SetFromBox` function that uses a `Material` to specify
85	214	a density.
86		* [Pull request 246](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/246)
	215	* [BitBucket pull request 246](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/246)
87	216
88	217	1. Deprecated mutator functions in MassMatrix3 that lacked a `Set` prefix.
89		* [Pull request 262](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/262)
	218	* [BitBucket pull request 262](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/262)
90	219
91	220	1. Updated the MassMatrix3::ValidMoments(), MassMatrix3::IsValid(), MassMatrix3::IsPositive(),
92	221	and Inertial::SetMassMatrix functions to accept a tolerance parameter.
93		* [Pull request 264](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/264)
	222	* [BitBucket pull request 264](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/264)
94	223
95	224	1. Add MassMatrix3::IsNearPositive and use it in MassMatrix3::IsValid, use >= instead of >
96	225	in MassMatrix3::ValidMoments
97		* [Pull request 278](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/278)
	226	* [BitBucket pull request 278](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/278)
98	227
99	228	## Ignition Math 4.x
100	229

102	231
103	232	1. Add Graph::EdgeFromVertices function that return an edge, if one exists,
104	233	between two vertices.
105		* [Pull request 254](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/254)
	234	* [BitBucket pull request 254](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/254)
106	235
107	236	1. Added multiply assign operator to Matrix4.
108		* [Pull request 252](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/252)
	237	* [BitBucket pull request 252](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/252)
109	238
110	239
111	240	1. Add Plane copy constructor and fix cppcheck on artful
112		* [Pull request 230](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/230)
	241	* [BitBucket pull request 230](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/230)
113	242
114	243	1. Added MovingWindowFilter, a copy from Ignition Common. This version will
115	244	replace the version found in Ignition Common.
116		* [Pull request 239](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/239)
	245	* [BitBucket pull request 239](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/239)
117	246
118	247	1. Added a Material class, which holds information about materials like wood,
119	248	steel, and iron.
120		* [Pull request 243](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/243)
	249	* [BitBucket pull request 243](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/243)
121	250
122	251	### Ignition Math 4.0.0 (2017-12-26)
123	252
124	253	1. Use std::stoi and std::stod in math::parse* functions to reduce code
125		* [Pull request 224](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/224)
126		* [Issue 50](https://bitbucket.org/ignitionrobotics/ign-math/issues/50)
	254	* [BitBucket pull request 224](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/224)
	255	* [Issue 50](https://github.com/ignitionrobotics/ign-math/issues/50)
127	256
128	257	1. Fixing const-correctness for operator* of Pose3
129		* [Pull request 205](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/205)
	258	* [BitBucket pull request 205](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/205)
130	259
131	260	1. Deprecate Matrix4::Translate and replace by Matrix4::SetTranslation
132		* [Pull request 222](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/222)
	261	* [BitBucket pull request 222](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/222)
133	262
134	263	1. Use ignition-cmake to simplify build scripts
135		* [Pull request 200](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/200)
	264	* [BitBucket pull request 200](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/200)
136	265
137	266	1. Make constructor SemanticVersion(string) explicit
138		* [Pull request 203](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/203)
	267	* [BitBucket pull request 203](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/203)
139	268
140	269	1. Switch to C++14
141		* [Pull request 180](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/180)
	270	* [BitBucket pull request 180](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/180)
142	271
143	272	1. Removed the box 'extent' field. The default constructor now sets a box's
144	273	corners to extrema in order to indicate an uninitialized box.
145		* [Pull request 172](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/172)
146		* [Issue 72](https://bitbucket.org/ignitionrobotics/ign-math/issues/72)
147		* [Issue 53](https://bitbucket.org/ignitionrobotics/ign-math/issues/53)
	274	* [BitBucket pull request 172](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/172)
	275	* [Issue 72](https://github.com/ignitionrobotics/ign-math/issues/72)
	276	* [Issue 53](https://github.com/ignitionrobotics/ign-math/issues/53)
148	277
149	278	1. Added graph utilites:
150	279	1. Added a Vertex class:
151		* [Pull request 170](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/170)
	280	* [BitBucket pull request 170](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/170)
152	281	1. Added an Edge class:
153		* [Pull request 174](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/174)
	282	* [BitBucket pull request 174](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/174)
154	283	1. Added a Graph class:
155		* [Pull request 175](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/175)
	284	* [BitBucket pull request 175](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/175)
156	285	1. Added a GraphAlgorithms class:
157		* [Pull request 177](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/177)
	286	* [BitBucket pull request 177](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/177)
158	287	1. Added a function to calculate connected components in undirected
159	288	graphs:
160		* [Pull request 190](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/190)
	289	* [BitBucket pull request 190](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/190)
161	290	1. Improved the performance of `graph::InDegree()` and `graph::IncidentsTo()`.
162		* [Pull request 188](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/188)
163		* [Issue 79](https://bitbucket.org/ignitionrobotics/ign-math/issues/79)
	291	* [BitBucket pull request 188](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/188)
	292	* [Issue 79](https://github.com/ignitionrobotics/ign-math/issues/79)
164	293
165	294	1. Added Inline Versioned Namespace
166		* [Pull request 216](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/216/)
	295	* [BitBucket pull request 216](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/216/)
167	296
168	297	## Ignition Math 3.x
169	298

174	303	### Ignition Math 3.3.0 (2017-11-27)
175	304
176	305	1. Fixed frustum falsely saying it contained AABB in some cases
177		* [Pull request 193](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/193)
178		* [Issue 78](https://bitbucket.org/ignitionrobotics/ign-math/issues/78)
	306	* [BitBucket pull request 193](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/193)
	307	* [Issue 78](https://github.com/ignitionrobotics/ign-math/issues/78)
179	308
180	309	1. Create consistent bracket operators across all Vector# types
181		* [Pull request 181](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/181)
	310	* [BitBucket pull request 181](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/181)
182	311
183	312	1. Change name to the generic BUILDING_DLL macro to avoid conflicts
184		* [Pull request 173](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/173)
	313	* [BitBucket pull request 173](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/173)
185	314
186	315	1. Fix some compiler warnings
187		* [Pull request 196](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/196)
	316	* [BitBucket pull request 196](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/196)
188	317
189	318	1. Suppress gtest warnings
190		* [Pull request 199](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/199)
	319	* [BitBucket pull request 199](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/199)
191	320
192	321	1. Move private headers to src folder
193		* [Pull request 198](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/198)
	322	* [BitBucket pull request 198](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/198)
194	323
195	324	1. Update configure.bat
196		* [Pull request 206](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/206)
	325	* [BitBucket pull request 206](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/206)
197	326
198	327	### Ignition Math 3.2.0 (2017-05-15)
199	328
200	329	1. Construct on first use in Rand class
201		* [Pull request 165](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/165)
	330	* [BitBucket pull request 165](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/165)
202	331
203	332	1. Extended Spline API: derivative interpolation, arc length calculation
204	333	and tangent forcing.
205		* [Pull request 162](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/162)
	334	* [BitBucket pull request 162](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/162)
206	335
207	336	### Ignition Math 3.1.0 (2017-04-11)
208	337
209	338	1. Added signum functions to Helpers.hh.
210	339	* Contribution from Martin Pecka
211		* [Pull request 153](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/153)
	340	* [BitBucket pull request 153](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/153)
212	341
213	342	### Ignition Math 3.0.0 (2017-01-05)
214	343
215	344	1. Deprecate many IGN_* macros in favor of static const variables in Helpers.hh
216		* [Pull request 138](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/138)
217		* [Pull request 137](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/137)
	345	* [BitBucket pull request 138](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/138)
	346	* [BitBucket pull request 137](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/137)
218	347
219	348	1. Removed exceptions. Return values should be evaluated to determine if
220	349	errors have occured.
221		* [Pull request 132](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/132)
	350	* [BitBucket pull request 132](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/132)
222	351
223	352	1. Added `operator=(const Quaternion<T> &_q)` to `Matrix3`.
224		* [Pull request 111](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/111)
	353	* [BitBucket pull request 111](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/111)
225	354
226	355	1. Fix xenial cppcheck
227		* [Pull request xxx](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/xxx)
	356	* [BitBucket pull request xxx](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/xxx)
228	357
229	358	1. Require cmake 2.8.12
230		* [Pull request 76](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/76)
	359	* [BitBucket pull request 76](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/76)
231	360
232	361	1. Migrate to relocatable CMake package.
233	362	Contribution from Silvio Traversaro.
234		* [Pull request 67](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/67)
	363	* [BitBucket pull request 67](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/67)
235	364
236	365	1. Fix logic of installation of CMake configuration files in Windows.
237	366	Contribution from Silvio Traversaro.
238		* [Pull request 63](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/63)
	367	* [BitBucket pull request 63](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/63)
239	368
240	369	## Ignition Math 2.x
241	370

244	373	## Ignition Math 2.9 (2017-11-22)
245	374
246	375	1. Fixed frustum falsely saying it contained AABB in some cases
247		* [Pull request 193](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/193)
	376	* [BitBucket pull request 193](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/193)
248	377
249	378	1. Added Color
250		* [Pull request 150](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/150)
	379	* [BitBucket pull request 150](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/150)
251	380
252	381	1. Backport updated configure.bat to ign-math2 and fix cppcheck warnings
253		* [Pull request 207](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/207)
	382	* [BitBucket pull request 207](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/207)
254	383
255	384	### Ignition Math 2.8
256	385
257	386	### Ignition Math 2.8.0
258	387
259	388	1. Added OrientedBox
260		* [Pull request 146](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/146)
	389	* [BitBucket pull request 146](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/146)
261	390
262	391	1. Added an assignment operator to the Frustum class.
263		* [Pull request 144](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/144)
	392	* [BitBucket pull request 144](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/144)
264	393
265	394	### Ignition Math 2.7
266	395
267	396	### Ignition Math 2.7.0
268	397
269	398	1. Add static const variables as alternative to macros in Helpers.hh
270		* [Pull request 137](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/137)
	399	* [BitBucket pull request 137](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/137)
271	400
272	401	1. Add new methods for floating numbers: lessOrEqual and greaterOrEqual
273		* [Pull request 134](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/134)
	402	* [BitBucket pull request 134](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/134)
274	403
275	404	### Ignition Math 2.6
276	405

278	407
279	408	1. Added copy constructor, equality operators and assignment operators to
280	409	SphericalCoordinates class.
281		* [Pull request 131](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/131)
	410	* [BitBucket pull request 131](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/131)
282	411
283	412	1. Fix Euler angle conversion of quaternions near singularities
284		* [Pull request 129](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/129)
	413	* [BitBucket pull request 129](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/129)
285	414
286	415	1. Backport triangle3, helper functions, equality helper to work with 387 fp unit
287	416	(Contribution from Rich Mattes).
288		* [Pull request 125](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/125)
289		* [Pull request 58](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/58)
290		* [Pull request 56](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/56)
	417	* [BitBucket pull request 125](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/125)
	418	* [BitBucket pull request 58](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/58)
	419	* [BitBucket pull request 56](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/56)
291	420
292	421	1. Added Matrix4<T>::LookAt
293		* [Pull request 124](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/124)
	422	* [BitBucket pull request 124](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/124)
294	423
295	424	1. Set Inertial Rotations
296		* [Pull request 121](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/121)
	425	* [BitBucket pull request 121](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/121)
297	426
298	427	1. Added SemanticVersion class
299		* [Pull request 120](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/120)
	428	* [BitBucket pull request 120](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/120)
300	429
301	430	### Ignition Math 2.5
302	431
303	432	### Ignition Math 2.5.0
304	433
305	434	1. Added PID class
306		* [Pull request 117](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/117)
	435	* [BitBucket pull request 117](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/117)
307	436
308	437	1. Added SphericalCoordinate class
309		* [Pull request 108](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/108)
	438	* [BitBucket pull request 108](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/108)
310	439
311	440	### Ignition Math 2.4
312	441

314	443
315	444	1. Combine inertial properties of different objects, returning the equivalent
316	445	inertial properties as if the objects were welded together.
317		* [Pull request 115](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/115)
	446	* [BitBucket pull request 115](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/115)
318	447
319	448	#### Ignition Math 2.4.0
320	449
321	450	1. New MassMatrix3 class
322		* [Pull request 112](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/112)
	451	* [BitBucket pull request 112](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/112)
323	452	1. MassMatrix3 helper functions
324		* [Pull request 110](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/110)
	453	* [BitBucket pull request 110](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/110)
325	454	1. Added Temperature class
326	455	* A contribution from Shintaro Noda
327		* [Pull request 113](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/113)
	456	* [BitBucket pull request 113](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/113)
328	457
329	458	### Ignition Math 2.3.0
330	459
331	460	1. Added simple volumes formulas
332		* [Pull request 84](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/84)
	461	* [BitBucket pull request 84](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/84)
333	462	1. Add Length and SquaredLength for Vector2 with test
334		* [Pull request 73](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/73)
	463	* [BitBucket pull request 73](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/73)
335	464	1. Add Equal function with numerical tolerance argument
336		* [Pull request 75](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/75)
	465	* [BitBucket pull request 75](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/75)
337	466	1. First part of MassMatrix3 class, mostly accessors and modifiers
338		* [Pull request 77](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/77)
	467	* [BitBucket pull request 77](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/77)
339	468	1. Add Transpose methods for Matrix3,4 with test
340		* [Pull request 74](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/74)
	469	* [BitBucket pull request 74](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/74)
341	470	1. Multiplication improvements for Vector/Matrix classes
342		* [Pull request 69](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/69)
	471	* [BitBucket pull request 69](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/69)
343	472	1. Scalar +,- operators for Vector[234]
344		* [Pull request 71](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/71)
	473	* [BitBucket pull request 71](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/71)
345	474	1. Add Determinant method for Matrix[34]
346		* [Pull request 72](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/72)
	475	* [BitBucket pull request 72](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/72)
347	476	1. Fixes for compiling and running tests on Windows 7/Visual Studio 2013
348	477	Contribution from Silvio Traversaro.
349		* [Pull request 62](https://bitbucket.org/ignitionrobotics/ign-math/pull-request/62)
	478	* [BitBucket pull request 62](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/62)

+45

-79

README.md less more

1	1
2	2	Maintainer: nate AT openrobotics DOT org
3	3
4		[![Bitbucket open issues](https://img.shields.io/bitbucket/issues-raw/ignitionrobotics/ign-math.svg)](https://bitbucket.org/ignitionrobotics/ign-math/issues)
5		[![Bitbucket open pull requests](https://img.shields.io/bitbucket/pr-raw/ignitionrobotics/ign-math.svg)](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests)
	4	[![GitHub open issues](https://img.shields.io/github/issues-raw/ignitionrobotics/ign-math.svg)](https://github.com/ignitionrobotics/ign-math/issues)
	5	[![GitHub open pull requests](https://img.shields.io/github/issues-pr-raw/ignitionrobotics/ign-math.svg)](https://github.com/ignitionrobotics/ign-math/pulls)
6	6	[![Discourse topics](https://img.shields.io/discourse/https/community.gazebosim.org/topics.svg)](https://community.gazebosim.org)
7	7	[![Hex.pm](https://img.shields.io/hexpm/l/plug.svg)](https://www.apache.org/licenses/LICENSE-2.0)
8	8
9	9	Build \| Status
10	10	-- \| --
11		Test coverage \| [![codecov](https://codecov.io/bb/ignitionrobotics/ign-math/branch/default/graph/badge.svg)](https://codecov.io/bb/ignitionrobotics/ign-math)
12		Ubuntu Bionic \| [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_math-ci-default-bionic-amd64)](https://build.osrfoundation.org/job/ignition_math-ci-default-bionic-amd64)
13		Homebrew \| [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_math-ci-default-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_math-ci-default-homebrew-amd64)
14		Windows \| [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_math-ci-default-windows7-amd64)](https://build.osrfoundation.org/job/ignition_math-ci-default-windows7-amd64)
	11	Test coverage \| [![codecov](https://codecov.io/gh/ignitionrobotics/ign-math/branch/master/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-math)
	12	Ubuntu Bionic \| [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_math-ci-master-bionic-amd64)](https://build.osrfoundation.org/job/ignition_math-ci-master-bionic-amd64)
	13	Homebrew \| [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_math-ci-master-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_math-ci-master-homebrew-amd64)
	14	Windows \| [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_math-ci-master-windows7-amd64)](https://build.osrfoundation.org/job/ignition_math-ci-master-windows7-amd64)
15	15
16	16	Ignition Math, a component of [Ignition
17	17	Robotics](https://ignitionrobotics.org), provides general purpose math

19	19
20	20	# Table of Contents
21	21
22		[Features](#markdown-header-features)
	22	[Features](#features)
23	23
24		[Install](#markdown-header-install)
	24	[Install](#install)
25	25
26		* [Binary Install](#markdown-header-binary-install)
	26	[Usage](#usage)
27	27
28		* [Source Install](#markdown-header-source-install)
	28	[Documentation](#documentation)
29	29
30		* [Prerequisites](#markdown-header-prerequisites)
	30	[Testing](#testing)
31	31
32		* [Building from Source](#markdown-header-building-from-source)
	32	[Folder Structure](#folder-structure)
33	33
34		[Usage](#markdown-header-usage)
	34	[Code of Conduct](#code-of-conduct)
35	35
36		[Documentation](#markdown-header-documentation)
	36	[Contributing](#code-of-contributing)
37	37
38		[Testing](#markdown-header-testing)
	38	[Versioning](#versioning)
39	39
40		[Folder Structure](#markdown-header-folder-structure)
41
42		[Code of Conduct](#markdown-header-code-of-conduct)
43
44		[Contributing](#markdown-header-code-of-contributing)
45
46		[Versioning](#markdown-header-versioning)
47
48		[License](#markdown-header-license)
	40	[License](#license)
49	41
50	42	# Features
51	43

59	51
60	52	# Install
61	53
62		We recommend following the [Binary Install](#markdown-header-binary-install) instructions to get up and running as quickly and painlessly as possible.
63
64		The [Source Install](#markdown-header-source-install) instructions should be used if you need the very latest software improvements, you need to modify the code, or you plan to make a contribution.
65
66		## Binary Install
67
68		On Ubuntu systems, `apt-get` can be used to install `ignition-math`:
69
70		```
71		sudo apt install libignition-math<#>-dev
72		```
73
74		Be sure to replace `<#>` with a number value, such as 1 or 2, depending on
75		which version you need.
76
77		## Source Install
78
79		Source installation can be performed in UNIX systems by first installing the
80		necessary prerequisites followed by building from source.
81
82		### Prerequisites
83
84		The optional Eigen component of Ignition Math requires:
85
86		* [Eigen](http://eigen.tuxfamily.org/index.php?title=Main_Page). Refer to the [Eigen Documentation](http://eigen.tuxfamily.org/index.php?title=Main_Page#Documentation) for installation instructions. On Ubuntu systems, `apt-get` can be used to install Eigen:
87
88		```
89		sudo apt-get install libeigen3-dev
90		```
91
92		### Building from source
93
94		1. Clone the repository
95
96		```
97		hg clone https://bitbucket.org/ignitionrobotics/ign-math
98		```
99
100		2. Configure and build
101
102		```
103		cd ign-math; mkdir build; cd build; cmake ..; make
104		```
105
106		3. Optionally, install Ignition Math
107
108		```
109		sudo make install
110		```
	54	See the [installation tutorial](https://ignitionrobotics.org/api/math/6.6/install.html).
111	55
112	56	# Usage
113	57
114		Please refer to the [examples directory](https://bitbucket.org/ignitionrobotics/ign-math/raw/default/examples/?at=default).
	58	Please refer to the [examples directory](https://github.com/ignitionrobotics/ign-math/raw/master/examples/).
115	59
116	60	# Documentation
117	61

128	72	2. Clone the repository
129	73
130	74	```
131		hg clone https://bitbucket.org/ignitionrobotics/ign-math
	75	git clone https://github.com/ignitionrobotics/ign-math
132	76	```
133	77
134	78	3. Configure and build the documentation.

147	91
148	92	Follow these steps to run tests and static code analysis in your clone of this repository.
149	93
150		1. Follow the [source install instruction](#markdown-header-source-install).
	94	1. Follow the [source install instruction](https://ignitionrobotics.org/libs/math#source-install).
151	95
152	96	2. Run tests.
153	97

160	104	```
161	105	make codecheck
162	106	```
	107
	108	## Ruby Tests
	109
	110	### Usage
	111
	112	The C++ classes are available in Ruby code by interface files (`.i`) used by swig to build a C++ extension module.
	113
	114	The interfaces and Ruby test codes are in the `src` folder. To use a C++ class in Ruby you need to:
	115
	116	1. Create an interface file describing the class as in Swig and Ruby reference at [The Ruby-to-C/C++ Mapping](http://www.swig.org/Doc1.3/Ruby.html#Ruby_nn11)
	117
	118	2. Include the interface file in `/src/ing_math.i`
	119
	120	3. Create the Ruby file and import the class as in Swig and Ruby reference at [C++ Classes](http://www.swig.org/Doc1.3/Ruby.html#Ruby_nn18)
	121
	122	### Tests
	123
	124	`make test` already runs all tests, including the ones made in Ruby, but you can run a Ruby test individually using
	125
	126	```
	127	ctest -R Ruby_TEST.rb
	128	```
163	129
164	130	# Folder Structure
165	131

183	149	# Contributing
184	150
185	151	Please see
186		[CONTRIBUTING.md](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/406665896aa40bb42f14cf61d48b3d94f2fc5dd8/CONTRIBUTING.md?at=default&fileviewer=file-view-default).
	152	[CONTRIBUTING.md](https://github.com/ignitionrobotics/ign-gazebo/blob/master/CONTRIBUTING.md).
187	153
188	154	# Code of Conduct
189	155
190	156	Please see
191		[CODE_OF_CONDUCT.md](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/406665896aa40bb42f14cf61d48b3d94f2fc5dd8/CODE_OF_CONDUCT.md?at=default&fileviewer=file-view-default).
	157	[CODE_OF_CONDUCT.md](https://github.com/ignitionrobotics/ign-gazebo/blob/master/CODE_OF_CONDUCT.md).
192	158
193	159	# Versioning
194	160

196	162
197	163	# License
198	164
199		This library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://bitbucket.org/ignitionrobotics/ign-math/src/default/LICENSE) file.
	165	This library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://github.com/ignitionrobotics/ign-math/blob/master/LICENSE) file.

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appveyor.yml less more

	0	os:
	1	- Visual Studio 2017
	2
	3	configuration:
	4	- Debug
	5	- Release
	6
	7	environment:
	8	CTEST_OUTPUT_ON_FAILURE: 1
	9
	10	install:
	11	- git clone https://github.com/ignitionrobotics/ign-cmake
	12	- cd ign-cmake
	13	- git checkout ign-cmake2
	14	- md build
	15	- cd build
	16	- cmake .. -DBUILD_TESTING:BOOL=False
	17	- cmake --build . --target INSTALL
	18	- cd ../..
	19	build_script:
	20	- md build
	21	- cd build
	22	- cmake .. -DCMAKE_CXX_FLAGS="-WX"
	23	- cmake --build . --config %CONFIGURATION%
	24
	25	after_build:
	26	- cmake --build . --config %CONFIGURATION% --target INSTALL
	27
	28	test_script:
	29	- cmake --build . --config %CONFIGURATION% --target RUN_TESTS
	30	# Build the examples to make sure that find_package(ignition-math* REQUIRED) works
	31	- cd ../examples
	32	- md build
	33	- cd build
	34	- cmake ..
	35	- cmake --build . --config %CONFIGURATION%
	36	- cd ..
	37

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bitbucket-pipelines.yml less more

	0	image: ubuntu:bionic
	1
	2	pipelines:
	3	default:
	4	- step:
	5	script:
	6	- apt-get update
	7	- apt-get -y install cmake build-essential curl git cppcheck ruby-dev swig g++-8 libeigen3-dev doxygen
	8	- update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 800 --slave /usr/bin/g++ g++ /usr/bin/g++-8 --slave /usr/bin/gcov gcov /usr/bin/gcov-8
	9	- gcc -v
	10	- g++ -v
	11	- gcov -v
	12	# lcov
	13	- git clone https://github.com/linux-test-project/lcov.git
	14	- cd lcov
	15	# see https://github.com/linux-test-project/lcov/issues/55
	16	- git checkout 1e0df571
	17	- make install
	18	- cd ..
	19	# Ignition cmake
	20	- echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable bionic main" > /etc/apt/sources.list.d/gazebo-stable.list
	21	# - echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-prerelease bionic main" > /etc/apt/sources.list.d/gazebo-prerelease.list
	22	- apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
	23	- apt-get update
	24	- apt-get -y install
	25	libignition-cmake2-dev
	26	# Ignition math
	27	- mkdir build
	28	- cd build
	29	- cmake .. -DCMAKE_BUILD_TYPE=coverage
	30	- make
	31	# Make sure documentation generation generated no warnings.
	32	- make doc
	33	- bash <(curl -s https://github.com/ignitionrobotics/ign-cmake/raw/master/tools/doc_check.sh)
	34	- make test
	35	- make coverage
	36	# Use a special version of codecov for handling gcc8 output.
	37	- bash <(curl -s https://raw.githubusercontent.com/codecov/codecov-bash/4678d212cce2078bbaaf5027af0c0dafaad6a095/codecov) -X gcovout -X gcov
	38	- make codecheck
	39	- make install
	40	# Examples
	41	- cd ..
	42	- cd examples
	43	- mkdir build
	44	- cd build
	45	- cmake ..
	46	- make
	47	- ./graph_example

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examples/CMakeLists.txt less more

2	2	# Find the Ignition-Math library
3	3	set(IGN_MATH_VER 6)
4	4	find_package(ignition-math${IGN_MATH_VER} REQUIRED)
	5
	6	add_executable(angle_example angle_example.cc)
	7	target_link_libraries(angle_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
	8
	9	add_executable(gauss_markov_process gauss_markov_process_example.cc)
	10	target_link_libraries(gauss_markov_process ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
5	11
6	12	add_executable(vector2_example vector2_example.cc)
7	13	target_link_libraries(vector2_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})

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examples/angle_example.cc less more

	0	/*
	1	* Copyright (C) 2019 Open Source Robotics Foundation
	2	*
	3	* Licensed under the Apache License, Version 2.0 (the "License");
	4	* you may not use this file except in compliance with the License.
	5	* You may obtain a copy of the License at
	6	*
	7	* http://www.apache.org/licenses/LICENSE-2.0
	8	*
	9	* Unless required by applicable law or agreed to in writing, software
	10	* distributed under the License is distributed on an "AS IS" BASIS,
	11	* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	12	* See the License for the specific language governing permissions and
	13	* limitations under the License.
	14	*
	15	*/
	16	//! [complete]
	17	#include <iostream>
	18	#include <ignition/math/Angle.hh>
	19
	20	int main(int argc, char **argv)
	21	{
	22	// Create an angle.
	23	ignition::math::Angle a;
	24
	25	// A default constructed angle should be zero.
	26	std::cout << "The angle 'a' should be zero: " << a << std::endl;
	27	a = ignition::math::Angle::Pi;
	28
	29	// Output the angle in radians and degrees.
	30	std::cout << "Pi in radians: " << a << std::endl;
	31	std::cout << "Pi in degrees: " << a.Degree() << std::endl;
	32
	33	// The Angle class overloads the +=, and many other, math operators.
	34	a += ignition::math::Angle::HalfPi;
	35	std::cout << "Pi + PI/2 in radians: " << a << std::endl;
	36	std::cout << "Normalized to the range -Pi and Pi: "
	37	<< a.Normalized() << std::endl;
	38	}
	39	//! [complete]

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	0	/*
	1	* Copyright (C) 2020 Open Source Robotics Foundation
	2	*
	3	* Licensed under the Apache License, Version 2.0 (the "License");
	4	* you may not use this file except in compliance with the License.
	5	* You may obtain a copy of the License at
	6	*
	7	* http://www.apache.org/licenses/LICENSE-2.0
	8	*
	9	* Unless required by applicable law or agreed to in writing, software
	10	* distributed under the License is distributed on an "AS IS" BASIS,
	11	* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	12	* See the License for the specific language governing permissions and
	13	* limitations under the License.
	14	*
	15	*/
	16	//! [complete]
	17	#include <iostream>
	18	#include <ignition/math/GaussMarkovProcess.hh>
	19
	20	// You can plot the data generated by this program by following these
	21	// steps.
	22	//
	23	// 1. Run this program and save the output to a file:
	24	// ./gauss_markov_process > plot.data
	25	//
	26	// 2. Use gnuplot to create a plot:
	27	// gnuplot -e 'set terminal jpeg; plot "plot.data" with lines' > out.jpg
	28	int main(int argc, char **argv)
	29	{
	30	// Create the process with:
	31	// * Start value of 20.2
	32	// * Theta (rate at which the process should approach the mean) of 0.1
	33	// * Mu (mean value) 0.
	34	// * Sigma (volatility) of 0.5.
	35	ignition::math::GaussMarkovProcess gmp(20.2, 0.1, 0, 0.5);
	36
	37	std::chrono::steady_clock::duration dt = std::chrono::milliseconds(100);
	38
	39	// This process should decrease toward the mean value of 0.
	40	// With noise of 0.5, the process will walk a bit.
	41	for (int i = 0; i < 1000; ++i)
	42	{
	43	double value = gmp.Update(dt);
	44	std::cout << value << std::endl;
	45	}
	46
	47	return 0;
	48	}
	49	//! [complete]

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include/ignition/math/Angle.hh less more

20	20	#include <ignition/math/Helpers.hh>
21	21	#include <ignition/math/config.hh>
22	22
	23	/// \def IGN_RTOD(d)
23	24	/// \brief Macro that converts radians to degrees
24		/// \param[in] radians
	25	/// \param[in] r radians
25	26	/// \return degrees
26	27	#define IGN_RTOD(r) ((r) * 180 / IGN_PI)
27	28
	29	/// \def IGN_DTOR(d)
28	30	/// \brief Converts degrees to radians
29		/// \param[in] degrees
	31	/// \param[in] d degrees
30	32	/// \return radians
31	33	#define IGN_DTOR(d) ((d) * IGN_PI / 180)
32	34
	35	/// \def IGN_NORMALIZE(a)
33	36	/// \brief Macro that normalizes an angle in the range -Pi to Pi
34		/// \param[in] angle
	37	/// \param[in] a angle
35	38	/// \return the angle, in range
36	39	#define IGN_NORMALIZE(a) (atan2(sin(a), cos(a)))
37	40

43	46	inline namespace IGNITION_MATH_VERSION_NAMESPACE {
44	47	//
45	48	/// \class Angle Angle.hh ignition/math/Angle.hh
46		/// \brief An angle and related functions.
	49	/// \brief The Angle class is used to simplify and clarify the use of
	50	/// radians and degrees measurements. A default constructed Angle instance
	51	/// has a value of zero radians/degrees.
	52	///
	53	/// Unless otherwise specified, the Angle class assumes units are in
	54	/// radians. An example of this are the stream insertion (<<) and
	55	/// extraction (>>) operators.
	56	///
	57	/// ## Example
	58	///
	59	/// \snippet examples/angle_example.cc complete
47	60	class IGNITION_MATH_VISIBLE Angle
48	61	{
49		/// \brief math::Angle(0)
	62	/// \brief An angle with a value of zero.
	63	/// Equivalent to math::Angle(0).
50	64	public: static const Angle Zero;
51	65
52		/// \brief math::Angle(IGN_PI)
	66	/// \brief An angle with a value of Pi.
	67	/// Equivalent to math::Angle(IGN_PI).
53	68	public: static const Angle Pi;
54	69
55		/// \brief math::Angle(IGN_PI * 0.5)
	70	/// \brief An angle with a value of Pi * 0.5.
	71	/// Equivalent to math::Angle(IGN_PI * 0.5).
56	72	public: static const Angle HalfPi;
57	73
58		/// \brief math::Angle(IGN_PI * 2)
	74	/// \brief An angle with a value of Pi * 2.
	75	/// Equivalent to math::Angle(IGN_PI * 2).
59	76	public: static const Angle TwoPi;
60	77
61		/// \brief Constructor
	78	/// \brief Default constructor that initializes an Angle to zero
	79	/// radians/degrees.
62	80	public: Angle();
63	81
64		/// \brief Conversion Constructor
65		/// \param[in] _radian Radians
	82	/// \brief Conversion constructor that initializes an Angle to the
	83	/// specified radians. This constructor supports implicit conversion
	84	/// of a double to an Angle. For example:
	85	///
	86	/// \code
	87	/// Angle a = 3.14;
	88	/// \endcode
	89	//
	90	/// \param[in] _radian The radians used to initialize this Angle.
66	91	// cppcheck-suppress noExplicitConstructor
67	92	public: Angle(const double _radian);
68	93
69		/// \brief Copy constructor
	94	/// \brief Copy constructor that initializes this Angle to the value
	95	/// contained in the _angle parameter.
70	96	/// \param[in] _angle Angle to copy
71	97	public: Angle(const Angle &_angle);
72	98
73	99	/// \brief Destructor
74	100	public: virtual ~Angle();
75	101
76		/// \brief Set the value from an angle in radians
77		/// \param[in] _radian Radian value
	102	/// \brief Set the value from an angle in radians.
	103	/// \param[in] _radian Radian value.
	104	/// \sa SetRadian(double)
78	105	public: void Radian(double _radian);
	106
	107	/// \brief Set the value from an angle in radians.
	108	/// \param[in] _radian Radian value.
	109	public: void SetRadian(double _radian);
79	110
80	111	/// \brief Set the value from an angle in degrees
81	112	/// \param[in] _degree Degree value
	113	/// \sa SetDegree(double)
82	114	public: void Degree(double _degree);
83	115
84		/// \brief Get the angle in radians
85		/// \return double containing the angle's radian value
	116	/// \brief Set the value from an angle in degrees
	117	/// \param[in] _degree Degree value
	118	public: void SetDegree(double _degree);
	119
	120	/// \brief Get the angle in radians.
	121	/// \return Double containing the angle's radian value.
86	122	public: double Radian() const;
87	123
88		/// \brief Get the angle in degrees
89		/// \return double containing the angle's degree value
	124	/// \brief Get the angle in degrees.
	125	/// \return Double containing the angle's degree value.
90	126	public: double Degree() const;
91	127
92		/// \brief Normalize the angle in the range -Pi to Pi
	128	/// \brief Normalize the angle in the range -Pi to Pi. This
	129	/// modifies the value contained in this Angle instance.
	130	/// \sa Normalized()
93	131	public: void Normalize();
	132
	133	/// \brief Return the normalized angle in the range -Pi to Pi. This
	134	/// does not modify the value contained in this Angle instance.
	135	/// \return The normalized value of this Angle.
	136	public: Angle Normalized() const;
94	137
95	138	/// \brief Return the angle's radian value
96	139	/// \return double containing the angle's radian value

103	146	return value;
104	147	}
105	148
106		/// \brief Substraction, result = this - _angle
107		/// \param[in] _angle Angle for substraction
108		/// \return the new angle
	149	/// \brief Subtraction operator, result = this - _angle.
	150	/// \param[in] _angle Angle for subtraction.
	151	/// \return The new angle.
109	152	public: Angle operator-(const Angle &_angle) const;
110	153
111		/// \brief Addition operator, result = this + _angle
112		/// \param[in] _angle Angle for addition
113		/// \return the new angle
	154	/// \brief Addition operator, result = this + _angle.
	155	/// \param[in] _angle Angle for addition.
	156	/// \return The new angle.
114	157	public: Angle operator+(const Angle &_angle) const;
115	158
116		/// \brief Multiplication operator, result = this * _angle
117		/// \param[in] _angle Angle for multiplication
118		/// \return the new angle
	159	/// \brief Multiplication operator, result = this * _angle.
	160	/// \param[in] _angle Angle for multiplication.
	161	/// \return The new angle
119	162	public: Angle operator*(const Angle &_angle) const;
120	163
121		/// \brief Division, result = this / _angle
122		/// \param[in] _angle Angle for division
123		/// \return the new angle
	164	/// \brief Division operator, result = this / _angle.
	165	/// \param[in] _angle Angle for division.
	166	/// \return The new angle.
124	167	public: Angle operator/(const Angle &_angle) const;
125	168
126		/// \brief Subtraction set, this = this - _angle
127		/// \param[in] _angle Angle for subtraction
128		/// \return angle
	169	/// \brief Subtraction set operator, this = this - _angle.
	170	/// \param[in] _angle Angle for subtraction.
	171	/// \return The new angle.
129	172	public: Angle operator-=(const Angle &_angle);
130	173
131		/// \brief Addition set, this = this + _angle
132		/// \param[in] _angle Angle for addition
133		/// \return angle
	174	/// \brief Addition set operator, this = this + _angle.
	175	/// \param[in] _angle Angle for addition.
	176	/// \return The new angle.
134	177	public: Angle operator+=(const Angle &_angle);
135	178
136		/// \brief Multiplication set, this = this * _angle
137		/// \param[in] _angle Angle for multiplication
138		/// \return angle
	179	/// \brief Multiplication set operator, this = this * _angle.
	180	/// \param[in] _angle Angle for multiplication.
	181	/// \return The new angle.
139	182	public: Angle operator*=(const Angle &_angle);
140	183
141		/// \brief Division set, this = this / _angle
142		/// \param[in] _angle Angle for division
143		/// \return angle
	184	/// \brief Division set operator, this = this / _angle.
	185	/// \param[in] _angle Angle for division.
	186	/// \return The new angle.
144	187	public: Angle operator/=(const Angle &_angle);
145	188
146		/// \brief Equality operator, result = this == _angle
147		/// \param[in] _angle Angle to check for equality
148		/// \return true if this == _angle
	189	/// \brief Equality operator, result = this == _angle.
	190	/// \param[in] _angle Angle to check for equality.
	191	/// \return True if this == _angle.
149	192	public: bool operator==(const Angle &_angle) const;
150	193
151		/// \brief Inequality
152		/// \param[in] _angle Angle to check for inequality
153		/// \return true if this != _angle
	194	/// \brief Inequality operator
	195	/// \param[in] _angle Angle to check for inequality.
	196	/// \return True if this != _angle.
154	197	public: bool operator!=(const Angle &_angle) const;
155	198
156		/// \brief Less than operator
157		/// \param[in] _angle Angle to check
158		/// \return true if this < _angle
	199	/// \brief Less than operator.
	200	/// \param[in] _angle Angle to check.
	201	/// \return True if this < _angle.
159	202	public: bool operator<(const Angle &_angle) const;
160	203
161		/// \brief Less or equal operator
162		/// \param[in] _angle Angle to check
163		/// \return true if this <= _angle
	204	/// \brief Less than or equal operator.
	205	/// \param[in] _angle Angle to check.
	206	/// \return True if this <= _angle.
164	207	public: bool operator<=(const Angle &_angle) const;
165	208
166		/// \brief Greater than operator
167		/// \param[in] _angle Angle to check
168		/// \return true if this > _angle
	209	/// \brief Greater than operator.
	210	/// \param[in] _angle Angle to check.
	211	/// \return True if this > _angle.
169	212	public: bool operator>(const Angle &_angle) const;
170	213
171		/// \brief Greater or equal operator
172		/// \param[in] _angle Angle to check
173		/// \return true if this >= _angle
	214	/// \brief Greater than or equal operator.
	215	/// \param[in] _angle Angle to check.
	216	/// \return True if this >= _angle.
174	217	public: bool operator>=(const Angle &_angle) const;
175	218
176		/// \brief Stream insertion operator. Outputs in degrees
177		/// \param[in] _out output stream
178		/// \param[in] _a angle to output
179		/// \return The output stream
	219	/// \brief Stream insertion operator. Outputs in radians.
	220	/// \param[in] _out Output stream.
	221	/// \param[in] _a Angle to output.
	222	/// \return The output stream.
180	223	public: friend std::ostream &operator<<(std::ostream &_out,
181	224	const ignition::math::Angle &_a)
182	225	{

184	227	return _out;
185	228	}
186	229
187		/// \brief Stream extraction operator. Assumes input is in radians
188		/// \param in input stream
189		/// \param pt angle to read value into
190		/// \return The input stream
	230	/// \brief Stream extraction operator. Assumes input is in radians.
	231	/// \param[in,out] _in Input stream.
	232	/// \param[out] _a Angle to read value into.
	233	/// \return The input stream.
191	234	public: friend std::istream &operator>>(std::istream &_in,
192	235	ignition::math::Angle &_a)
193	236	{

198	241	}
199	242
200	243	/// The angle in radians
201		private: double value;
	244	private: double value{0};
202	245	};
203	246	}
204	247	}

+6

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include/ignition/math/AxisAlignedBox.hh less more

125	125	/// \param _v The vector to use during subtraction
126	126	/// \return The new box
127	127	public: AxisAlignedBox operator-(const Vector3d &_v);
	128
	129	/// \brief Add a vector to the min and max values
	130	/// \param _v The vector to use during addition
	131	/// \return The new box
	132	public: AxisAlignedBox operator+(const Vector3d &_v);
128	133
129	134	/// \brief Output operator
130	135	/// \param[in] _out Output stream

265	270	/// \brief Get the mass matrix for this box. This function
266	271	/// is only meaningful if the box's size and material
267	272	/// have been set.
268		/// \param[out] _massMatrix The computed mass matrix will be stored
	273	/// \param[out] _massMat The computed mass matrix will be stored
269	274	/// here.
270	275	/// \return False if computation of the mass matrix failed, which
271	276	/// could be due to an invalid size (<=0) or density (<=0).

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-1

include/ignition/math/Box.hh less more

158	158	/// \brief Get the mass matrix for this box. This function
159	159	/// is only meaningful if the box's size and material
160	160	/// have been set.
161		/// \param[out] _massMatrix The computed mass matrix will be stored
	161	/// \param[out] _massMat The computed mass matrix will be stored
162	162	/// here.
163	163	/// \return False if computation of the mass matrix failed, which
164	164	/// could be due to an invalid size (<=0) or density (<=0).

+151

-0

include/ignition/math/Capsule.hh less more

	0	/*
	1	* Copyright (C) 2020 Open Source Robotics Foundation
	2	*
	3	* Licensed under the Apache License, Version 2.0 (the "License");
	4	* you may not use this file except in compliance with the License.
	5	* You may obtain a copy of the License at
	6	*
	7	* http://www.apache.org/licenses/LICENSE-2.0
	8	*
	9	* Unless required by applicable law or agreed to in writing, software
	10	* distributed under the License is distributed on an "AS IS" BASIS,
	11	* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	12	* See the License for the specific language governing permissions and
	13	* limitations under the License.
	14	*
	15	*/
	16	#ifndef IGNITION_MATH_CAPSULE_HH_
	17	#define IGNITION_MATH_CAPSULE_HH_
	18
	19	#include <optional>
	20	#include "ignition/math/MassMatrix3.hh"
	21	#include "ignition/math/Material.hh"
	22
	23	namespace ignition
	24	{
	25	namespace math
	26	{
	27	// Foward declarations
	28	class CapsulePrivate;
	29
	30	// Inline bracket to help doxygen filtering.
	31	inline namespace IGNITION_MATH_VERSION_NAMESPACE {
	32	//
	33	/// \class Capsule Capsule.hh ignition/math/Capsule.hh
	34	/// \brief A representation of a capsule or sphere-capped cylinder.
	35	///
	36	/// The capsule class supports defining a capsule with a radius,
	37	/// length, and material properties. The shape is equivalent to a cylinder
	38	/// aligned with the Z-axis and capped with hemispheres. Radius and
	39	/// length are in meters. See Material for more on material properties.
	40	/// \tparam Precision Scalar numeric type.
	41	template<typename Precision>
	42	class Capsule
	43	{
	44	/// \brief Default constructor. The default radius and length are both
	45	/// zero.
	46	public: Capsule() = default;
	47
	48	/// \brief Construct a capsule with a length and radius.
	49	/// \param[in] _length Length of the capsule.
	50	/// \param[in] _radius Radius of the capsule.
	51	public: Capsule(const Precision _length, const Precision _radius);
	52
	53	/// \brief Construct a capsule with a length, radius, and material.
	54	/// \param[in] _length Length of the capsule.
	55	/// \param[in] _radius Radius of the capsule.
	56	/// \param[in] _mat Material property for the capsule.
	57	public: Capsule(const Precision _length, const Precision _radius,
	58	const Material &_mat);
	59
	60	/// \brief Get the radius in meters.
	61	/// \return The radius of the capsule in meters.
	62	public: Precision Radius() const;
	63
	64	/// \brief Set the radius in meters.
	65	/// \param[in] _radius The radius of the capsule in meters.
	66	public: void SetRadius(const Precision _radius);
	67
	68	/// \brief Get the length in meters.
	69	/// \return The length of the capsule in meters.
	70	public: Precision Length() const;
	71
	72	/// \brief Set the length in meters.
	73	/// \param[in] _length The length of the capsule in meters.
	74	public: void SetLength(const Precision _length);
	75
	76	/// \brief Get the material associated with this capsule.
	77	/// \return The material assigned to this capsule
	78	public: const Material &Mat() const;
	79
	80	/// \brief Set the material associated with this capsule.
	81	/// \param[in] _mat The material assigned to this capsule
	82	public: void SetMat(const Material &_mat);
	83
	84	/// \brief Get the mass matrix for this capsule. This function
	85	/// is only meaningful if the capsule's radius, length, and material
	86	/// have been set.
	87	/// \return The computed mass matrix if parameters are valid
	88	/// (radius > 0), (length > 0), and (density > 0). Otherwise
	89	/// std::nullopt is returned.
	90	public: std::optional< MassMatrix3<Precision> > MassMatrix() const;
	91
	92	/// \brief Check if this capsule is equal to the provided capsule.
	93	/// Radius, length, and material properties will be checked.
	94	public: bool operator==(const Capsule &_capsule) const;
	95
	96	/// \brief Get the volume of the capsule in m^3.
	97	/// \return Volume of the capsule in m^3.
	98	public: Precision Volume() const;
	99
	100	/// \brief Compute the capsule's density given a mass value. The
	101	/// capsule is assumed to be solid with uniform density. This
	102	/// function requires the capsule's radius and length to be set to
	103	/// values greater than zero. The Material of the capsule is ignored.
	104	/// \param[in] _mass Mass of the capsule, in kg. This value should be
	105	/// greater than zero.
	106	/// \return Density of the capsule in kg/m^3. A NaN is returned
	107	/// if radius, length or _mass is <= 0.
	108	public: Precision DensityFromMass(const Precision _mass) const;
	109
	110	/// \brief Set the density of this capsule based on a mass value.
	111	/// Density is computed using
	112	/// Precision DensityFromMass(const Precision _mass) const. The
	113	/// capsule is assumed to be solid with uniform density. This
	114	/// function requires the capsule's radius and length to be set to
	115	/// values greater than zero. The existing Material density value is
	116	/// overwritten only if the return value from this true.
	117	/// \param[in] _mass Mass of the capsule, in kg. This value should be
	118	/// greater than zero.
	119	/// \return True if the density was set. False is returned if the
	120	/// capsule's radius, length, or the _mass value are <= 0.
	121	/// \sa Precision DensityFromMass(const Precision _mass) const
	122	public: bool SetDensityFromMass(const Precision _mass);
	123
	124	/// \brief Radius of the capsule.
	125	private: Precision radius = 0.0;
	126
	127	/// \brief Length of the capsule.
	128	private: Precision length = 0.0;
	129
	130	/// \brief the capsule's material.
	131	private: Material material;
	132	};
	133
	134	/// \typedef Capsule<int> Capsulei
	135	/// \brief Capsule with integer precision.
	136	typedef Capsule<int> Capsulei;
	137
	138	/// \typedef Capsule<double> Capsuled
	139	/// \brief Capsule with double precision.
	140	typedef Capsule<double> Capsuled;
	141
	142	/// \typedef Capsule<float> Capsulef
	143	/// \brief Capsule with float precision.
	144	typedef Capsule<float> Capsulef;
	145	}
	146	}
	147	}
	148	#include "ignition/math/detail/Capsule.hh"
	149
	150	#endif

+25

-10

include/ignition/math/Color.hh less more

17	17	#define IGNITION_MATH_COLOR_HH_
18	18
19	19	#include <iostream>
	20	#include <cctype>
20	21
21	22	#include <ignition/math/Helpers.hh>
22	23	#include <ignition/math/Vector3.hh>

51	52	/// \brief (0, 1, 1)
52	53	public: static const Color Cyan;
53	54
54		/// \def RGBA
	55	/// \typedef RGBA
55	56	/// \brief A RGBA packed value as an unsigned int
56	57	public: typedef unsigned int RGBA;
57	58
58		/// \def BGRA
	59	/// \typedef BGRA
59	60	/// \brief A BGRA packed value as an unsigned int
60	61	public: typedef unsigned int BGRA;
61	62
62		/// \def ARGB
	63	/// \typedef ARGB
63	64	/// \brief A ARGB packed value as an unsigned int
64	65	public: typedef unsigned int ARGB;
65	66
66		/// \def ABGR
	67	/// \typedef ABGR
67	68	/// \brief A ABGR packed value as an unsigned int
68	69	public: typedef unsigned int ABGR;
69	70

246	247	}
247	248
248	249	/// \brief Stream insertion operator
249		/// \param[in] _in the input stream
	250	/// \param[in] _in the input stream. If the input stream does not include
	251	/// an alpha value, a default alpha value of 1.0 will be used.
250	252	/// \param[in] _pt
251	253	public: friend std::istream &operator>> (std::istream &_in, Color &_pt)
252	254	{
253	255	// Skip white spaces
254	256	_in.setf(std::ios_base::skipws);
255		_in >> _pt.r >> _pt.g >> _pt.b >> _pt.a;
	257	_in >> _pt.r >> _pt.g >> _pt.b;
	258	// Since alpha is optional, check if it's there before parsing
	259	while (!_in.eof() && std::isspace(_in.peek()))
	260	{
	261	_in.get();
	262	}
	263	if (!_in.eof())
	264	{
	265	_in >> _pt.a;
	266	}
	267	else
	268	{
	269	_pt.a = 1.0;
	270	}
256	271	return _in;
257	272	}
258	273

289	304	public: float &A();
290	305
291	306	/// \brief Set the red value
292		/// \param _r New red value
	307	/// \param[in] _r New red value
293	308	public: void R(const float _r);
294	309
295	310	/// \brief Set the green value
296		/// \param _r New green value
	311	/// \param[in] _g New green value
297	312	public: void G(const float _g);
298	313
299	314	/// \brief Set the blue value
300		/// \param _r New blue value
	315	/// \param[in] _b New blue value
301	316	public: void B(const float _b);
302	317
303	318	/// \brief Set the alpha value
304		/// \param _r New alpha value
	319	/// \param[in] _a New alpha value
305	320	public: void A(const float _a);
306	321
307	322	/// \brief Red value

+2

-2

include/ignition/math/Cylinder.hh less more

31	31	inline namespace IGNITION_MATH_VERSION_NAMESPACE {
32	32	//
33	33	/// \class Cylinder Cylinder.hh ignition/math/Cylinder.hh
34		/// \brief A represntation of a cylinder.
	34	/// \brief A representation of a cylinder.
35	35	///
36	36	/// The cylinder class supports defining a cylinder with a radius,
37	37	/// length, rotational offset, and material properties. Radius and

115	115	/// \brief Get the mass matrix for this cylinder. This function
116	116	/// is only meaningful if the cylinder's radius, length, and material
117	117	/// have been set. Optionally, set the rotational offset.
118		/// \param[out] _massMatrix The computed mass matrix will be stored
	118	/// \param[out] _massMat The computed mass matrix will be stored
119	119	/// here.
120	120	/// \return False if computation of the mass matrix failed, which
121	121	/// could be due to an invalid radius (<=0), length (<=0), or density

+1

-0

include/ignition/math/DiffDriveOdometry.hh less more

99	99	/// steerings position
100	100	/// \param[in] _leftPos Left wheel position in radians.
101	101	/// \param[in] _rightPos Right wheel postion in radians.
	102	/// \param[in] _time Current time point.
102	103	/// \return True if the odometry is actually updated.
103	104	public: bool Update(const Angle &_leftPos, const Angle &_rightPos,
104	105	const clock::time_point &_time);

+5

-5

include/ignition/math/Filter.hh less more

77	77	}
78	78
79	79	// Documentation Inherited.
80		public: virtual void Fc(double _fc, double _fs)
	80	public: virtual void Fc(double _fc, double _fs) override
81	81	{
82	82	b1 = exp(-2.0 * IGN_PI * _fc / _fs);
83	83	a0 = 1.0 - b1;
84	84	}
85	85
86	86	/// \brief Update the filter's output.
87		/// \paran[in] _x Input value.
	87	/// \param[in] _x Input value.
88	88	/// \return The filter's current output.
89	89	public: const T& Process(const T &_x)
90	90	{

119	119	}
120	120
121	121	/// \brief Update the filter's output.
122		/// \paran[in] _x Input value.
	122	/// \param[in] _x Input value.
123	123	/// \return The filter's current output.
124	124	public: const math::Quaterniond& Process(
125	125	const math::Quaterniond &_x)

167	167	}
168	168
169	169	// Documentation Inherited.
170		public: void Fc(double _fc, double _fs)
	170	public: void Fc(double _fc, double _fs) override
171	171	{
172	172	this->Fc(_fc, _fs, 0.5);
173	173	}

190	190
191	191	/// \brief Set the current filter's output.
192	192	/// \param[in] _val New filter's output.
193		public: virtual void Set(const T &_val)
	193	public: virtual void Set(const T &_val) override
194	194	{
195	195	this->y0 = this->y1 = this->y2 = this->x1 = this->x2 = _val;
196	196	}

+1

-1

include/ignition/math/Frustum.hh less more

168	168	public: void SetPose(const Pose3d &_pose);
169	169
170	170	/// \brief Assignment operator. Set this frustum to the parameter.
171		/// \param[in] _b Frustum to copy
	171	/// \param[in] _f Frustum to copy
172	172	/// \return The new frustum.
173	173	public: Frustum &operator=(const Frustum &_f);
174	174

+153

-0

include/ignition/math/GaussMarkovProcess.hh less more

	0	/*
	1	* Copyright (C) 2020 Open Source Robotics Foundation
	2	*
	3	* Licensed under the Apache License, Version 2.0 (the "License");
	4	* you may not use this file except in compliance with the License.
	5	* You may obtain a copy of the License at
	6	*
	7	* http://www.apache.org/licenses/LICENSE-2.0
	8	*
	9	* Unless required by applicable law or agreed to in writing, software
	10	* distributed under the License is distributed on an "AS IS" BASIS,
	11	* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	12	* See the License for the specific language governing permissions and
	13	* limitations under the License.
	14	*
	15	*/
	16	#ifndef IGNITION_MATH_GAUSSMARKOVPROCESS_HH_
	17	#define IGNITION_MATH_GAUSSMARKOVPROCESS_HH_
	18
	19	#include <chrono>
	20	#include <memory>
	21	#include <ignition/math/Export.hh>
	22	#include <ignition/math/config.hh>
	23
	24	namespace ignition
	25	{
	26	namespace math
	27	{
	28	// Use a steady clock
	29	using clock = std::chrono::steady_clock;
	30
	31	// Inline bracket to help doxygen filtering.
	32	inline namespace IGNITION_MATH_VERSION_NAMESPACE {
	33	//
	34	// Forward declarations.
	35	class GaussMarkovProcessPrivate;
	36
	37	/** \class GaussMarkovProcess GaussMarkovProcess.hh\
	38	* ignition/math/GaussMarkovProcess.hh
	39	**/
	40	/// \brief Implementation of a stationary gauss-markov process, also
	41	/// known as a Ornstein Ulenbeck process.
	42	///
	43	/// See the Update(const clock::duration &) for details on the forumla
	44	/// used to update the process.
	45	///
	46	/// ## Example usage
	47	///
	48	/// \snippet examples/gauss_markov_process_example.cc complete
	49	class IGNITION_MATH_VISIBLE GaussMarkovProcess
	50	{
	51	// Default constructor. This sets all the parameters to zero.
	52	public: GaussMarkovProcess();
	53
	54	/// \brief Create a process with the provided process parameters.
	55	/// This will also call Set(), and in turn Reset().
	56	/// \param[in] _start The start value of the process.
	57	/// \param[in] _theta The theta (\f$\theta\f$) parameter. A value of
	58	/// zero will be used if this parameter is negative.
	59	/// \param[in] _mu The mu (\f$\mu\f$) parameter.
	60	/// \param[in] _sigma The sigma (\f$\sigma\f$) parameter. A value of
	61	/// zero will be used if this parameter is negative.
	62	/// \sa Update(const clock::duration &)
	63	public: GaussMarkovProcess(double _start, double _theta, double _mu,
	64	double _sigma);
	65
	66	/// \brief Destructor.
	67	public: ~GaussMarkovProcess();
	68
	69	/// \brief Set the process parameters. This will also call Reset().
	70	/// \param[in] _start The start value of the process.
	71	/// \param[in] _theta The theta (\f$\theta\f$) parameter.
	72	/// \param[in] _mu The mu (\f$\mu\f$) parameter.
	73	/// \param[in] _sigma The sigma (\f$\sigma\f$) parameter.
	74	/// \sa Update(const clock::duration &)
	75	public: void Set(double _start, double _theta, double _mu, double _sigma);
	76
	77	/// \brief Get the start value.
	78	/// \return The start value.
	79	/// \sa Set(double, double, double, double)
	80	public: double Start() const;
	81
	82	/// \brief Get the current process value.
	83	/// \return The value of the process.
	84	public: double Value() const;
	85
	86	/// \brief Get the theta (\f$\theta\f$) value.
	87	/// \return The theta value.
	88	/// \sa Set(double, double, double, double)
	89	public: double Theta() const;
	90
	91	/// \brief Get the mu (\f$\mu\f$) value.
	92	/// \return The mu value.
	93	/// \sa Set(double, double, double, double)
	94	public: double Mu() const;
	95
	96	/// \brief Get the sigma (\f$\sigma\f$) value.
	97	/// \return The sigma value.
	98	/// \sa Set(double, double, double, double)
	99	public: double Sigma() const;
	100
	101	/// \brief Reset the process. This will set the current process value
	102	/// to the start value.
	103	public: void Reset();
	104
	105	/// \brief Update the process and get the new value.
	106	///
	107	/// The following equation is computed:
	108	///
	109	/// \f$x_{t+1} += \theta * (\mu - x_t) * dt + \sigma * dW_t\f$
	110	///
	111	/// where
	112	///
	113	/// * \f$\theta, \mu, \sigma\f$ are parameters specified by the
	114	/// user. In order, the parameters are theta, mu, and sigma. Theta
	115	/// and sigma must be greater than or equal to zero. You can think
	116	/// of mu as representing the mean or equilibrium value, sigma as the
	117	/// degree of volatility, and theta as the rate by which changes
	118	/// dissipate and revert towards the mean.
	119	/// * \f$dt\f$ is the time step in seconds.
	120	/// * \f$dW_t\f$ is a random number drawm from a normal distribution
	121	/// with mean of zero and variance of 1.
	122	/// * \f$x_t\f$ is the current value of the Gauss-Markov process
	123	/// * \f$x_{t+1}\f$ is the new value of the Gauss-Markvov process
	124	///
	125	/// See also: https://en.wikipedia.org/wiki/Ornstein%E2%80%93Uhlenbeck_process
	126	///
	127	/// This implementation include a drift parameter, mu. In financial
	128	/// mathematics, this is known as a Vasicek model.
	129	///
	130	/// \param[in] _dt Length of the timestep after which a new sample
	131	/// should be taken.
	132	/// \return The new value of this process.
	133	public: double Update(const clock::duration &_dt);
	134
	135	public: double Update(double _dt);
	136
	137	#ifdef _WIN32
	138	// Disable warning C4251 which is triggered by
	139	// std::unique_ptr
	140	#pragma warning(push)
	141	#pragma warning(disable: 4251)
	142	#endif
	143	/// \brief Private data pointer.
	144	private: std::unique_ptr<GaussMarkovProcessPrivate> dataPtr;
	145	#ifdef _WIN32
	146	#pragma warning(pop)
	147	#endif
	148	};
	149	}
	150	}
	151	}
	152	#endif

+325

-4

include/ignition/math/Helpers.hh less more

16	16	#ifndef IGNITION_MATH_FUNCTIONS_HH_
17	17	#define IGNITION_MATH_FUNCTIONS_HH_
18	18
	19	#include <algorithm>
19	20	#include <chrono>
20	21	#include <cmath>
21		#include <algorithm>
	22	#include <cstdint>
	23	#include <iomanip>
	24	#include <iostream>
22	25	#include <limits>
	26	#include <regex>
	27	#include <sstream>
23	28	#include <string>
24		#include <iostream>
25		#include <vector>
26	29	#include <tuple>
27	30	#include <utility>
28		#include <cstdint>
	31	#include <vector>
29	32
30	33	#include <ignition/math/config.hh>
31	34	#include "ignition/math/Export.hh"

726	729	}
727	730	}
728	731
	732	/// \brief Convert a std::chrono::steady_clock::time_point to a seconds and
	733	/// nanoseconds pair.
	734	/// \param[in] _time The time point to convert.
	735	/// \return A pair where the first element is the number of seconds and
	736	/// the second is the number of nanoseconds.
	737	inline std::pair<int64_t, int64_t> timePointToSecNsec(
	738	const std::chrono::steady_clock::time_point &_time)
	739	{
	740	auto now_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
	741	_time.time_since_epoch());
	742	auto now_s = std::chrono::duration_cast<std::chrono::seconds>(
	743	_time.time_since_epoch());
	744	int64_t seconds = now_s.count();
	745	int64_t nanoseconds = std::chrono::duration_cast
	746	<std::chrono::nanoseconds>(now_ns - now_s).count();
	747	return {seconds, nanoseconds};
	748	}
	749
	750	/// \brief Convert seconds and nanoseconds to
	751	/// std::chrono::steady_clock::time_point.
	752	/// \param[in] _sec The seconds to convert.
	753	/// \param[in] _nanosec The nanoseconds to convert.
	754	/// \return A std::chrono::steady_clock::time_point based on the number of
	755	/// seconds and the number of nanoseconds.
	756	inline std::chrono::steady_clock::time_point secNsecToTimePoint(
	757	const uint64_t &_sec, const uint64_t &_nanosec)
	758	{
	759	auto duration = std::chrono::seconds(_sec) + std::chrono::nanoseconds(
	760	_nanosec);
	761	std::chrono::steady_clock::time_point result;
	762	using std::chrono::duration_cast;
	763	result += duration_cast<std::chrono::steady_clock::duration>(duration);
	764	return result;
	765	}
	766
	767	/// \brief Convert seconds and nanoseconds to
	768	/// std::chrono::steady_clock::duration.
	769	/// \param[in] _sec The seconds to convert.
	770	/// \param[in] _nanosec The nanoseconds to convert.
	771	/// \return A std::chrono::steady_clock::duration based on the number of
	772	/// seconds and the number of nanoseconds.
	773	inline std::chrono::steady_clock::duration secNsecToDuration(
	774	const uint64_t &_sec, const uint64_t &_nanosec)
	775	{
	776	return std::chrono::seconds(_sec) + std::chrono::nanoseconds(
	777	_nanosec);
	778	}
	779
729	780	/// \brief Convert a std::chrono::steady_clock::duration to a seconds and
730	781	/// nanoseconds pair.
731	782	/// \param[in] _dur The duration to convert.

737	788	auto s = std::chrono::duration_cast<std::chrono::seconds>(_dur);
738	789	auto ns = std::chrono::duration_cast<std::chrono::nanoseconds>(_dur-s);
739	790	return {s.count(), ns.count()};
	791	}
	792
	793	// TODO(anyone): Replace this with std::chrono::days.
	794	/// This will exist in C++-20
	795	typedef std::chrono::duration<uint64_t, std::ratio<86400>> days;
	796
	797	/// \brief break down durations
	798	/// NOTE: the template arguments must be properly ordered according
	799	/// to magnitude and there can be no duplicates.
	800	/// This function uses the braces initializer to split all the templated
	801	/// duration. The initializer will be called recursievely due the `...`
	802	/// \param[in] d Duration to break down
	803	/// \return A tuple based on the durations specified
	804	template<class...Durations, class DurationIn>
	805	std::tuple<Durations...> breakDownDurations(DurationIn d) {
	806	std::tuple<Durations...> retval;
	807	using discard = int[];
	808	(void)discard{0, (void((
	809	(std::get<Durations>(retval) =
	810	std::chrono::duration_cast<Durations>(d)),
	811	(d -= std::chrono::duration_cast<DurationIn>(
	812	std::get<Durations>(retval))))), 0)...};
	813	return retval;
	814	}
	815
	816	/// \brief Convert a std::chrono::steady_clock::time_point to a string
	817	/// \param[in] _point The std::chrono::steady_clock::time_point to convert.
	818	/// \return A string formatted with the time_point
	819	inline std::string timePointToString(
	820	const std::chrono::steady_clock::time_point &_point)
	821	{
	822	auto duration = _point - secNsecToTimePoint(0, 0);
	823	auto cleanDuration = breakDownDurations<days,
	824	std::chrono::hours,
	825	std::chrono::minutes,
	826	std::chrono::seconds,
	827	std::chrono::milliseconds>(
	828	duration);
	829	std::ostringstream output_string;
	830	output_string << std::setw(2) << std::setfill('0')
	831	<< std::get<0>(cleanDuration).count() << " "
	832	<< std::setw(2) << std::setfill('0')
	833	<< std::get<1>(cleanDuration).count() << ":"
	834	<< std::setw(2) << std::setfill('0')
	835	<< std::get<2>(cleanDuration).count() << ":"
	836	<< std::setfill('0') << std::setw(6)
	837	<< std::fixed << std::setprecision(3)
	838	<< std::get<3>(cleanDuration).count() +
	839	std::get<4>(cleanDuration).count()/1000.0;
	840	return output_string.str();
	841	}
	842
	843	/// \brief Convert a std::chrono::steady_clock::duration to a string
	844	/// \param[in] _duration The std::chrono::steady_clock::duration to convert.
	845	/// \return A string formatted with the duration
	846	inline std::string durationToString(
	847	const std::chrono::steady_clock::duration &_duration)
	848	{
	849	auto cleanDuration = breakDownDurations<days,
	850	std::chrono::hours,
	851	std::chrono::minutes,
	852	std::chrono::seconds,
	853	std::chrono::milliseconds>(
	854	_duration);
	855	std::ostringstream outputString;
	856	outputString << std::setw(2) << std::setfill('0')
	857	<< std::get<0>(cleanDuration).count() << " "
	858	<< std::setw(2) << std::setfill('0')
	859	<< std::get<1>(cleanDuration).count() << ":"
	860	<< std::setw(2) << std::setfill('0')
	861	<< std::get<2>(cleanDuration).count() << ":"
	862	<< std::setfill('0') << std::setw(6)
	863	<< std::fixed << std::setprecision(3)
	864	<< std::get<3>(cleanDuration).count() +
	865	std::get<4>(cleanDuration).count()/1000.0;
	866	return outputString.str();
	867	}
	868
	869	// The following regex takes a time string in the general format of
	870	// "dd hh:mm:ss.nnn" where n is milliseconds, if just one number is
	871	// provided, it is assumed to be seconds
	872	static const std::regex time_regex(
	873	"^([0-9]+ ){0,1}" // day:
	874	// Any positive integer
	875
	876	"(?:([1-9]:\|[0-1][0-9]:\|2[0-3]:){0,1}" // hour:
	877	// 1 - 9:
	878	// 01 - 19:
	879	// 20 - 23:
	880
	881	"([0-9]:\|[0-5][0-9]:)){0,1}" // minute:
	882	// 0 - 9:
	883	// 00 - 59:
	884
	885	"(?:([0-9]\|[0-5][0-9]){0,1}" // second:
	886	// 0 - 9
	887	// 00 - 59
	888
	889	"(\\.[0-9]{1,3}){0,1})$"); // millisecond:
	890	// .0 - .9
	891	// .00 - .99
	892	// .000 - 0.999
	893
	894
	895	/// \brief Split a std::chrono::steady_clock::duration to a string
	896	/// \param[in] _timeString The string to convert in general format
	897	/// \param[out] numberDays number of days in the string
	898	/// \param[out] numberHours number of hours in the string
	899	/// \param[out] numberMinutes number of minutes in the string
	900	/// \param[out] numberSeconds number of seconds in the string
	901	/// \param[out] numberMilliseconds number of milliseconds in the string
	902	/// \return True if the regex was able to split the string otherwise False
	903	inline bool splitTimeBasedOnTimeRegex(
	904	const std::string &_timeString,
	905	uint64_t & numberDays, uint64_t & numberHours,
	906	uint64_t & numberMinutes, uint64_t & numberSeconds,
	907	uint64_t & numberMilliseconds)
	908	{
	909	std::smatch matches;
	910
	911	// `matches` should always be a size of 6 as there are 6 matching
	912	// groups in the regex.
	913	// 1. The whole regex
	914	// 2. The days
	915	// 3. The hours
	916	// 4. The minutes
	917	// 5. The seconds
	918	// 6. The milliseconds
	919	// We can also index them as such below.
	920	// Note that the space will remain in the day match, the colon
	921	// will remain in the hour and minute matches, and the period will
	922	// remain in the millisecond match
	923	if (!std::regex_search(_timeString, matches, time_regex) \|\|
	924	matches.size() != 6)
	925	return false;
	926
	927	std::string dayString = matches[1];
	928	std::string hourString = matches[2];
	929	std::string minuteString = matches[3];
	930	std::string secondString = matches[4];
	931	std::string millisecondString = matches[5];
	932
	933	// Days are the only unbounded number, so check first to see if stoi
	934	// runs successfully
	935	if (!dayString.empty())
	936	{
	937	// Erase the space
	938	dayString.erase(dayString.length() - 1);
	939	try
	940	{
	941	numberDays = std::stoi(dayString);
	942	}
	943	catch (const std::out_of_range &)
	944	{
	945	return false;
	946	}
	947	}
	948
	949	if (!hourString.empty())
	950	{
	951	// Erase the colon
	952	hourString.erase(hourString.length() - 1);
	953	numberHours = std::stoi(hourString);
	954	}
	955
	956	if (!minuteString.empty())
	957	{
	958	// Erase the colon
	959	minuteString.erase(minuteString.length() - 1);
	960	numberMinutes = std::stoi(minuteString);
	961	}
	962
	963	if (!secondString.empty())
	964	{
	965	numberSeconds = std::stoi(secondString);
	966	}
	967
	968	if (!millisecondString.empty())
	969	{
	970	// Erase the period
	971	millisecondString.erase(0, 1);
	972
	973	// Multiplier because "4" = 400 ms, "04" = 40 ms, and "004" = 4 ms
	974	numberMilliseconds = std::stoi(millisecondString) *
	975	static_cast<uint64_t>(1000 / pow(10, millisecondString.length()));
	976	}
	977	return true;
	978	}
	979
	980	/// \brief Convert a string to a std::chrono::steady_clock::duration
	981	/// \param[in] _timeString The string to convert in general format
	982	/// "dd hh:mm:ss.nnn" where n is millisecond value
	983	/// \return A std::chrono::steady_clock::duration containing the
	984	/// string's time value. If it isn't possible to convert, the duration will
	985	/// be zero.
	986	inline std::chrono::steady_clock::duration stringToDuration(
	987	const std::string &_timeString)
	988	{
	989	using namespace std::chrono_literals;
	990	std::chrono::steady_clock::duration duration{
	991	std::chrono::steady_clock::duration::zero()};
	992
	993	if (_timeString.empty())
	994	return duration;
	995
	996	uint64_t numberDays = 0;
	997	uint64_t numberHours = 0;
	998	uint64_t numberMinutes = 0;
	999	uint64_t numberSeconds = 0;
	1000	uint64_t numberMilliseconds = 0;
	1001
	1002	if (!splitTimeBasedOnTimeRegex(_timeString, numberDays, numberHours,
	1003	numberMinutes, numberSeconds,
	1004	numberMilliseconds))
	1005	{
	1006	return duration;
	1007	}
	1008
	1009	// TODO(anyone): Replace below day conversion with std::chrono::days.
	1010	/// This will exist in C++-20
	1011	duration = std::chrono::steady_clock::duration::zero();
	1012	auto delta = std::chrono::milliseconds(numberMilliseconds) +
	1013	std::chrono::seconds(numberSeconds) +
	1014	std::chrono::minutes(numberMinutes) +
	1015	std::chrono::hours(numberHours) +
	1016	std::chrono::hours(24 * numberDays);
	1017	duration += delta;
	1018
	1019	return duration;
	1020	}
	1021
	1022	/// \brief Convert a string to a std::chrono::steady_clock::time_point
	1023	/// \param[in] _timeString The string to convert in general format
	1024	/// "dd hh:mm:ss.nnn" where n is millisecond value
	1025	/// \return A std::chrono::steady_clock::time_point containing the
	1026	/// string's time value. If it isn't possible to convert, the time will
	1027	/// be negative 1 second.
	1028	inline std::chrono::steady_clock::time_point stringToTimePoint(
	1029	const std::string &_timeString)
	1030	{
	1031	using namespace std::chrono_literals;
	1032	std::chrono::steady_clock::time_point timePoint{-1s};
	1033
	1034	if (_timeString.empty())
	1035	return timePoint;
	1036
	1037	uint64_t numberDays = 0;
	1038	uint64_t numberHours = 0;
	1039	uint64_t numberMinutes = 0;
	1040	uint64_t numberSeconds = 0;
	1041	uint64_t numberMilliseconds = 0;
	1042
	1043	if (!splitTimeBasedOnTimeRegex(_timeString, numberDays, numberHours,
	1044	numberMinutes, numberSeconds,
	1045	numberMilliseconds))
	1046	{
	1047	return timePoint;
	1048	}
	1049
	1050	// TODO(anyone): Replace below day conversion with std::chrono::days.
	1051	/// This will exist in C++-20
	1052	timePoint = math::secNsecToTimePoint(0, 0);
	1053	auto duration = std::chrono::milliseconds(numberMilliseconds) +
	1054	std::chrono::seconds(numberSeconds) +
	1055	std::chrono::minutes(numberMinutes) +
	1056	std::chrono::hours(numberHours) +
	1057	std::chrono::hours(24 * numberDays);
	1058	timePoint += duration;
	1059
	1060	return timePoint;
740	1061	}
741	1062
742	1063	// Degrade precision on Windows, which cannot handle 'long double'

+6

-6

include/ignition/math/Inertial.hh less more

237	237	ixxyyzz.X() += m1 * (std::pow(dc[1], 2) + std::pow(dc[2], 2));
238	238	ixxyyzz.Y() += m1 * (std::pow(dc[2], 2) + std::pow(dc[0], 2));
239	239	ixxyyzz.Z() += m1 * (std::pow(dc[0], 2) + std::pow(dc[1], 2));
240		ixxyyzz.X() -= m1 * dc[0] * dc[1];
241		ixxyyzz.Y() -= m1 * dc[0] * dc[2];
242		ixxyyzz.Z() -= m1 * dc[1] * dc[2];
	240	ixyxzyz.X() -= m1 * dc[0] * dc[1];
	241	ixyxzyz.Y() -= m1 * dc[0] * dc[2];
	242	ixyxzyz.Z() -= m1 * dc[1] * dc[2];
243	243	}
244	244	{
245	245	auto dc = com2 - com;
246	246	ixxyyzz.X() += m2 * (std::pow(dc[1], 2) + std::pow(dc[2], 2));
247	247	ixxyyzz.Y() += m2 * (std::pow(dc[2], 2) + std::pow(dc[0], 2));
248	248	ixxyyzz.Z() += m2 * (std::pow(dc[0], 2) + std::pow(dc[1], 2));
249		ixxyyzz.X() -= m2 * dc[0] * dc[1];
250		ixxyyzz.Y() -= m2 * dc[0] * dc[2];
251		ixxyyzz.Z() -= m2 * dc[1] * dc[2];
	249	ixyxzyz.X() -= m2 * dc[0] * dc[1];
	250	ixyxzyz.Y() -= m2 * dc[0] * dc[2];
	251	ixyxzyz.Z() -= m2 * dc[1] * dc[2];
252	252	}
253	253	this->massMatrix = MassMatrix3<T>(mass, ixxyyzz, ixyxzyz);
254	254	this->pose = Pose3<T>(com, Quaternion<T>::Identity);

+1

-1

include/ignition/math/Line2.hh less more

297	297
298	298	/// \brief Stream extraction operator
299	299	/// \param[in] _out output stream
300		/// \param[in] _pt Line2 to output
	300	/// \param[in] _line Line2 to output
301	301	/// \return The stream
302	302	public: friend std::ostream &operator<<(
303	303	std::ostream &_out, const Line2<T> &_line)

+1

-0

include/ignition/math/Line3.hh less more

153	153	/// point of this line and the closest point in the provided line.
154	154	/// \param[in] _line Line to compare against this.
155	155	/// \param[out] _result The shortest line between _line and this.
	156	/// \param[in] _epsilon Error tolerance.
156	157	/// \return True if a solution was found. False if a solution is not
157	158	/// possible.
158	159	public: bool Distance(const Line3<T> &_line, Line3<T> &_result,

+8

-10

include/ignition/math/MassMatrix3.hh less more

59	59	{}
60	60
61	61	/// \brief Copy constructor.
62		/// \param[in] _massMatrix MassMatrix3 element to copy
	62	/// \param[in] _m MassMatrix3 element to copy
63	63	public: MassMatrix3(const MassMatrix3<T> &_m)
64	64	: mass(_m.Mass()), Ixxyyzz(_m.DiagonalMoments()),
65	65	Ixyxzyz(_m.OffDiagonalMoments())

173	173	/// \brief Set the off-diagonal moments of inertia (Ixy, Ixz, Iyz).
174	174	/// \param[in] _ixyxzyz off-diagonal moments of inertia
175	175	/// \return True if the MassMatrix3 is valid.
176		/// \deprecated See bool SetOffDiagonalMoments(const Vector3<T> &_ixyxzyz)
177	176	public: bool SetOffDiagonalMoments(const Vector3<T> &_ixyxzyz)
178	177	{
179	178	this->Ixyxzyz = _ixyxzyz;

399	398	/// \brief Sets Moments of Inertia (MOI) from a Matrix3.
400	399	/// Symmetric component of input matrix is used by averaging
401	400	/// off-axis terms.
402		/// \param[in] Moments of Inertia as a Matrix3
	401	/// \param[in] _moi Moments of Inertia as a Matrix3
403	402	/// \return True if the MassMatrix3 is valid.
404	403	/// \deprecated See SetMoi(const Matrix3<T> &_moi)
405	404	public: bool IGN_DEPRECATED(5.0) MOI(const Matrix3<T> &_moi)

410	409	/// \brief Sets Moments of Inertia (MOI) from a Matrix3.
411	410	/// Symmetric component of input matrix is used by averaging
412	411	/// off-axis terms.
413		/// \param[in] Moments of Inertia as a Matrix3
	412	/// \param[in] _moi Moments of Inertia as a Matrix3
414	413	/// \return True if the MassMatrix3 is valid.
415	414	public: bool SetMoi(const Matrix3<T> &_moi)
416	415	{

984	983	+ std::pow(cos(phi11c.Radian()) - cos(phi12c.Radian()), 2);
985	984	if (errc < err)
986	985	{
987		err = errc;
988	986	phi1 = phi11c.Radian();
989	987	signsPhi23.Set(-1, -1);
990	988	}

1070	1068	const Quaternion<T> &_rot = Quaternion<T>::Identity)
1071	1069	{
1072	1070	// Check that _mass and _size are strictly positive
1073		// and that quatenion is valid
	1071	// and that quaternion is valid
1074	1072	if (_mass <= 0 \|\| _size.Min() <= 0 \|\| _rot == Quaternion<T>::Zero)
1075	1073	{
1076	1074	return false;

1088	1086	const Quaternion<T> &_rot = Quaternion<T>::Identity)
1089	1087	{
1090	1088	// Check that _mass and _size are strictly positive
1091		// and that quatenion is valid
	1089	// and that quaternion is valid
1092	1090	if (this->Mass() <= 0 \|\| _size.Min() <= 0 \|\|
1093	1091	_rot == Quaternion<T>::Zero)
1094	1092	{

1121	1119	const Quaternion<T> &_rot = Quaternion<T>::Identity)
1122	1120	{
1123	1121	// Check that density, _radius and _length are strictly positive
1124		// and that quatenion is valid
	1122	// and that quaternion is valid
1125	1123	if (_mat.Density() <= 0 \|\| _length <= 0 \|\| _radius <= 0 \|\|
1126	1124	_rot == Quaternion<T>::Zero)
1127	1125	{

1145	1143	const Quaternion<T> &_rot = Quaternion<T>::Identity)
1146	1144	{
1147	1145	// Check that _mass, _radius and _length are strictly positive
1148		// and that quatenion is valid
	1146	// and that quaternion is valid
1149	1147	if (_mass <= 0 \|\| _length <= 0 \|\| _radius <= 0 \|\|
1150	1148	_rot == Quaternion<T>::Zero)
1151	1149	{

1166	1164	const Quaternion<T> &_rot)
1167	1165	{
1168	1166	// Check that _mass and _size are strictly positive
1169		// and that quatenion is valid
	1167	// and that quaternion is valid
1170	1168	if (this->Mass() <= 0 \|\| _length <= 0 \|\| _radius <= 0 \|\|
1171	1169	_rot == Quaternion<T>::Zero)
1172	1170	{

+1

-1

include/ignition/math/Material.hh less more

40	40	/// enum.
41	41	///
42	42	/// This class will replace the
43		/// [MaterialDensity class](https://bitbucket.org/ignitionrobotics/ign-common/src/ign-common1/include/ignition/common/MaterialDensity.hh)
	43	/// [MaterialDensity class](https://github.com/ignitionrobotics/ign-common/blob/ign-common1/include/ignition/common/MaterialDensity.hh)
44	44	/// found in the Ignition Common library, which was at version 1 at the
45	45	/// time of this writing.
46	46	///

+3

-2

include/ignition/math/Matrix3.hh less more

503	503
504	504	return _out;
505	505	}
	506
506	507	/// \brief Stream extraction operator
507		/// \param _in input stream
508		/// \param _pt Matrix3 to read values into
	508	/// \param[in,out] _in input stream
	509	/// \param[out] _m Matrix3 to read values into
509	510	/// \return the stream
510	511	public: friend std::istream &operator>>(
511	512	std::istream &_in, ignition::math::Matrix3<T> &_m)

+4

-4

include/ignition/math/Matrix4.hh less more

621	621
622	622	/// \brief Multiplication assignment operator. This matrix will
623	623	/// become equal to this * _m2.
624		/// \param _mat Incoming matrix.
	624	/// \param[in] _m2 Incoming matrix.
625	625	/// \return This matrix * _mat.
626	626	public: Matrix4<T> operator*=(const Matrix4<T> &_m2)
627	627	{

630	630	}
631	631
632	632	/// \brief Multiplication operator
633		/// \param _mat Incoming matrix
	633	/// \param[in] _m2 Incoming matrix
634	634	/// \return This matrix * _mat
635	635	public: Matrix4<T> operator*(const Matrix4<T> &_m2) const
636	636	{

826	826	}
827	827
828	828	/// \brief Stream extraction operator
829		/// \param _in input stream
830		/// \param _pt Matrix4<T> to read values into
	829	/// \param[in,out] _in input stream
	830	/// \param[out] _m Matrix4<T> to read values into
831	831	/// \return the stream
832	832	public: friend std::istream &operator>>(
833	833	std::istream &_in, ignition::math::Matrix4<T> &_m)

+1

-1

include/ignition/math/MovingWindowFilter.hh less more

52	52	/// \brief keep track of number of elements
53	53	public: unsigned int samples = 0;
54	54	};
55		/// \endcond
56	55
57	56	//////////////////////////////////////////////////
58	57	template<typename T>

63	62	this->valIter = this->valHistory.begin();
64	63	this->sum = T();
65	64	}
	65	/// \endcond
66	66
67	67	/// \brief Base class for MovingWindowFilter. This replaces the
68	68	/// version of MovingWindowFilter in the Ignition Common library.

+79

-5

include/ignition/math/Pose3.hh less more

212	212	return this->p != _pose.p \|\| this->q != _pose.q;
213	213	}
214	214
215		/// \brief Multiplication operator
216		/// \param[in] _pose the other pose
217		/// \return itself
	215	/// \brief Multiplication operator.
	216	/// Given X_OP (frame P relative to O) and X_PQ (frame Q relative to P)
	217	/// then X_OQ = X_OP * X_PQ (frame Q relative to O).
	218	/// \param[in] _pose The pose to multiply by.
	219	/// \return The resulting pose.
218	220	public: Pose3<T> operator*(const Pose3<T> &_pose) const
219	221	{
220	222	return Pose3<T>(_pose.CoordPositionAdd(this), this->q _pose.q);

230	232	return *this;
231	233	}
232	234
233		/// \brief Equal operator
	235	/// \brief Assignment operator
234	236	/// \param[in] _pose Pose3<T> to copy
235	237	public: Pose3<T> &operator=(const Pose3<T> &_pose)
236	238	{

328	330	}
329	331
330	332	/// \brief Rotate vector part of a pose about the origin
331		/// \param[in] _rot rotation
	333	/// \param[in] _q rotation
332	334	/// \return the rotated pose
333	335	public: Pose3<T> RotatePositionAboutOrigin(const Quaternion<T> &_q) const
334	336	{

367	369	return this->p;
368	370	}
369	371
	372	/// \brief Get the X value of the position.
	373	/// \return Value X of the origin of the pose.
	374	/// \note The return is made by value since
	375	/// Vector3<T>.X() is already a reference.
	376	public: inline const T X() const
	377	{
	378	return this->p.X();
	379	}
	380
	381	/// \brief Set X value of the position.
	382	public: inline void SetX(T x)
	383	{
	384	this->p.X() = x;
	385	}
	386
	387	/// \brief Get the Y value of the position.
	388	/// \return Value Y of the origin of the pose.
	389	/// \note The return is made by value since
	390	/// Vector3<T>.Y() is already a reference.
	391	public: inline const T Y() const
	392	{
	393	return this->p.Y();
	394	}
	395
	396	/// \brief Set the Y value of the position.
	397	public: inline void SetY(T y)
	398	{
	399	this->p.Y() = y;
	400	}
	401
	402	/// \brief Get the Z value of the position.
	403	/// \return Value Z of the origin of the pose.
	404	/// \note The return is made by value since
	405	/// Vector3<T>.Z() is already a reference.
	406	public: inline const T Z() const
	407	{
	408	return this->p.Z();
	409	}
	410
	411	/// \brief Set the Z value of the position.
	412	public: inline void SetZ(T z)
	413	{
	414	this->p.Z() = z;
	415	}
	416
370	417	/// \brief Get the rotation.
371	418	/// \return Quaternion representation of the rotation.
372	419	public: inline const Quaternion<T> &Rot() const

379	426	public: inline Quaternion<T> &Rot()
380	427	{
381	428	return this->q;
	429	}
	430
	431	/// \brief Get the Roll value of the rotation.
	432	/// \return Roll value of the orientation.
	433	/// \note The return is made by value since
	434	/// Quaternion<T>.Roll() is already a reference.
	435	public: inline const T Roll() const
	436	{
	437	return this->q.Roll();
	438	}
	439
	440	/// \brief Get the Pitch value of the rotation.
	441	/// \return Pitch value of the orientation.
	442	/// \note The return is made by value since
	443	/// Quaternion<T>.Pitch() is already a reference.
	444	public: inline const T Pitch() const
	445	{
	446	return this->q.Pitch();
	447	}
	448
	449	/// \brief Get the Yaw value of the rotation.
	450	/// \return Yaw value of the orientation.
	451	/// \note The return is made by value since
	452	/// Quaternion<T>.Yaw() is already a reference.
	453	public: inline const T Yaw() const
	454	{
	455	return this->q.Yaw();
382	456	}
383	457
384	458	/// \brief Stream insertion operator

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include/ignition/math/Quaternion.hh less more

104	104	/// \brief Destructor
105	105	public: ~Quaternion() {}
106	106
107		/// \brief Equal operator
	107	/// \brief Assignment operator
108	108	/// \param[in] _qt Quaternion<T> to copy
109	109	public: Quaternion<T> &operator=(const Quaternion<T> &_qt)
110	110	{

243	243	}
244	244	}
245	245
	246	/// \brief Gets a normalized version of this quaternion
	247	/// \return a normalized quaternion
	248	public: Quaternion<T> Normalized() const
	249	{
	250	Quaternion<T> result = *this;
	251	result.Normalize();
	252	return result;
	253	}
	254
246	255	/// \brief Set the quaternion from an axis and angle
247		/// \param[in] _x X axis
248		/// \param[in] _y Y axis
249		/// \param[in] _z Z axis
250		/// \param[in] _a Angle in radians
	256	/// \param[in] _ax X axis
	257	/// \param[in] _ay Y axis
	258	/// \param[in] _az Z axis
	259	/// \param[in] _aa Angle in radians
251	260	public: void Axis(T _ax, T _ay, T _az, T _aa)
252	261	{
253	262	T l;

283	292	}
284	293
285	294	/// \brief Set this quaternion from 4 floating numbers
286		/// \param[in] _u u
	295	/// \param[in] _w w
287	296	/// \param[in] _x x
288	297	/// \param[in] _y y
289	298	/// \param[in] _z z

658	667	/// \brief Multiplication operator
659	668	/// \param[in] _qt Quaternion<T> for multiplication
660	669	/// \return This quaternion multiplied by the parameter
661		public: Quaternion<T> operator*=(const Quaternion<T> &qt)
662		{
663		this = this * qt;
	670	public: Quaternion<T> operator*=(const Quaternion<T> &_qt)
	671	{
	672	this = this * _qt;
664	673	return *this;
665	674	}
666	675

838	847
839	848	/// \brief Spherical quadratic interpolation
840	849	/// given the ends and an interpolation parameter between 0 and 1
841		/// \param[in] _ft the interpolation parameter
	850	/// \param[in] _fT the interpolation parameter
842	851	/// \param[in] _rkP the beginning quaternion
843	852	/// \param[in] _rkA first intermediate quaternion
844	853	/// \param[in] _rkB second intermediate quaternion

859	868
860	869	/// \brief Spherical linear interpolation between 2 quaternions,
861	870	/// given the ends and an interpolation parameter between 0 and 1
862		/// \param[in] _ft the interpolation parameter
	871	/// \param[in] _fT the interpolation parameter
863	872	/// \param[in] _rkP the beginning quaternion
864	873	/// \param[in] _rkQ the end quaternion
865	874	/// \param[in] _shortestPath when true, the rotation may be inverted to

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include/ignition/math/SemanticVersion.hh less more

74	74	/// \brief Parse a version string and set the major, minor, patch
75	75	/// numbers, and prerelease and build strings.
76	76	/// \param[in] _versionStr The version string, such as "1.2.3-pr+123"
77		/// \retur True on success.
	77	/// \return True on success.
78	78	public: bool Parse(const std::string &_versionStr);
79	79
80	80	/// \brief Returns the version as a string

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include/ignition/math/SignalStats.hh less more

84	84	class IGNITION_MATH_VISIBLE SignalMaximum : public SignalStatistic
85	85	{
86	86	// Documentation inherited.
87		public: virtual double Value() const;
	87	public: virtual double Value() const override;
88	88
89	89	/// \brief Get a short version of the name of this statistical measure.
90	90	/// \return "max"
91		public: virtual std::string ShortName() const;
92
93		// Documentation inherited.
94		public: virtual void InsertData(const double _data);
	91	public: virtual std::string ShortName() const override;
	92
	93	// Documentation inherited.
	94	public: virtual void InsertData(const double _data) override;
95	95	};
96	96	/// \}
97	97

100	100	class IGNITION_MATH_VISIBLE SignalMean : public SignalStatistic
101	101	{
102	102	// Documentation inherited.
103		public: virtual double Value() const;
	103	public: virtual double Value() const override;
104	104
105	105	/// \brief Get a short version of the name of this statistical measure.
106	106	/// \return "mean"
107		public: virtual std::string ShortName() const;
108
109		// Documentation inherited.
110		public: virtual void InsertData(const double _data);
	107	public: virtual std::string ShortName() const override;
	108
	109	// Documentation inherited.
	110	public: virtual void InsertData(const double _data) override;
111	111	};
112	112	/// \}
113	113

116	116	class IGNITION_MATH_VISIBLE SignalMinimum : public SignalStatistic
117	117	{
118	118	// Documentation inherited.
119		public: virtual double Value() const;
	119	public: virtual double Value() const override;
120	120
121	121	/// \brief Get a short version of the name of this statistical measure.
122	122	/// \return "min"
123		public: virtual std::string ShortName() const;
124
125		// Documentation inherited.
126		public: virtual void InsertData(const double _data);
	123	public: virtual std::string ShortName() const override;
	124
	125	// Documentation inherited.
	126	public: virtual void InsertData(const double _data) override;
127	127	};
128	128	/// \}
129	129

133	133	class IGNITION_MATH_VISIBLE SignalRootMeanSquare : public SignalStatistic
134	134	{
135	135	// Documentation inherited.
136		public: virtual double Value() const;
	136	public: virtual double Value() const override;
137	137
138	138	/// \brief Get a short version of the name of this statistical measure.
139	139	/// \return "rms"
140		public: virtual std::string ShortName() const;
141
142		// Documentation inherited.
143		public: virtual void InsertData(const double _data);
	140	public: virtual std::string ShortName() const override;
	141
	142	// Documentation inherited.
	143	public: virtual void InsertData(const double _data) override;
144	144	};
145	145	/// \}
146	146

152	152	class IGNITION_MATH_VISIBLE SignalMaxAbsoluteValue : public SignalStatistic
153	153	{
154	154	// Documentation inherited.
155		public: virtual double Value() const;
	155	public: virtual double Value() const override;
156	156
157	157	/// \brief Get a short version of the name of this statistical measure.
158	158	/// \return "maxAbs"
159		public: virtual std::string ShortName() const;
160
161		// Documentation inherited.
162		public: virtual void InsertData(const double _data);
	159	public: virtual std::string ShortName() const override;
	160
	161	// Documentation inherited.
	162	public: virtual void InsertData(const double _data) override;
163	163	};
164	164	/// \}
165	165

169	169	class IGNITION_MATH_VISIBLE SignalVariance : public SignalStatistic
170	170	{
171	171	// Documentation inherited.
172		public: virtual double Value() const;
	172	public: virtual double Value() const override;
173	173
174	174	/// \brief Get a short version of the name of this statistical measure.
175	175	/// \return "var"
176		public: virtual std::string ShortName() const;
177
178		// Documentation inherited.
179		public: virtual void InsertData(const double _data);
	176	public: virtual std::string ShortName() const override;
	177
	178	// Documentation inherited.
	179	public: virtual void InsertData(const double _data) override;
180	180	};
181	181	/// \}
182	182

238	238	public: void Reset();
239	239
240	240	/// \brief Assignment operator
241		/// \param[in] _v A SignalStats to copy
	241	/// \param[in] _s A SignalStats to copy
242	242	/// \return this
243	243	public: SignalStats &operator=(const SignalStats &_s);
244	244

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include/ignition/math/Sphere.hh less more

72	72
73	73	/// \brief Get the mass matrix for this sphere. This function
74	74	/// is only meaningful if the sphere's radius and material have been set.
75		/// \param[out] _massMatrix The computed mass matrix will be stored
	75	/// \param[out] _massMat The computed mass matrix will be stored
76	76	/// here.
77	77	/// \return False if computation of the mass matrix failed, which
78	78	/// could be due to an invalid radius (<=0) or density (<=0).

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include/ignition/math/SphericalCoordinates.hh less more

114	114	/// Example: _latA = 38.0016667 and _lonA = -123.0016667) represents
115	115	/// the point with latitude 38d 0'6.00"N and longitude 123d 0'6.00"W.
116	116	/// \param[in] _latA Latitude of point A.
117		/// \param[in] _longA Longitude of point A.
	117	/// \param[in] _lonA Longitude of point A.
118	118	/// \param[in] _latB Latitude of point B.
119		/// \param[in] _longB Longitude of point B.
	119	/// \param[in] _lonB Longitude of point B.
120	120	/// \return Distance in meters.
121	121	public: static double Distance(const ignition::math::Angle &_latA,
122	122	const ignition::math::Angle &_lonA,

173	173
174	174	/// \brief Convert a Cartesian velocity vector with components East,
175	175	/// North, Up to a local cartesian frame vector XYZ.
176		/// \param[in] Vector with components (x,y,z): (East, North, Up).
	176	/// \param[in] _xyz Vector with components (x,y,z): (East, North, Up).
177	177	/// \return Cartesian vector in the world frame.
178	178	public: ignition::math::Vector3d LocalFromGlobalVelocity(
179	179	const ignition::math::Vector3d &_xyz) const;

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include/ignition/math/Spline.hh less more

197	197	/// \brief Interpolates the mth derivative of the spline at
198	198	/// parameter value \p _t.
199	199	/// \param[in] _mth order of curve derivative to interpolate.
200		/// \param[in] _t parameter value (range 0 to 1).
	200	/// \param[in] _1 parameter value (range 0 to 1).
201	201	/// \return the interpolated mth derivative, or [INF, INF, INF]
202	202	/// on error. Use Vector3d::IsFinite() to check for an error.
203	203	public: Vector3d InterpolateMthDerivative(const unsigned int _mth,

210	210	/// \param[in] _fromIndex point index to treat as t = 0, fromIndex + 1
211	211	/// is deemed to be t = 1.
212	212	/// \param[in] _mth order of curve derivative to interpolate.
213		/// \param[in] _t parameter value (range 0 to 1).
	213	/// \param[in] _s parameter value (range 0 to 1).
214	214	/// \return the interpolated mth derivative, or [INF, INF, INF] on
215	215	/// error. Use Vector3d::IsFinite() to check for an error.
216	216	public: Vector3d InterpolateMthDerivative(const unsigned int _fromIndex,

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include/ignition/math/Vector2.hh less more

16	16	#ifndef IGNITION_MATH_VECTOR2_HH_
17	17	#define IGNITION_MATH_VECTOR2_HH_
18	18
	19	#include <algorithm>
	20
19	21	#include <ignition/math/Helpers.hh>
20	22	#include <ignition/math/config.hh>
21	23

64	66	/// \brief Destructor
65	67	public: virtual ~Vector2() {}
66	68
	69	/// \brief Return the sum of the values
	70	/// \return the sum
	71	public: T Sum() const
	72	{
	73	return this->data[0] + this->data[1];
	74	}
	75
67	76	/// \brief Calc distance to the given point
68	77	/// \param[in] _pt The point to measure to
69	78	/// \return the distance

100	109	}
101	110	}
102	111
	112	/// \brief Returns a normalized vector
	113	/// \return unit length vector
	114	public: Vector2 Normalized() const
	115	{
	116	Vector2<T> result = *this;
	117	result.Normalize();
	118	return result;
	119	}
	120
	121	/// \brief Round to near whole number, return the result.
	122	/// \return the result
	123	public: Vector2 Round()
	124	{
	125	this->data[0] = nearbyint(this->data[0]);
	126	this->data[1] = nearbyint(this->data[1]);
	127	return *this;
	128	}
	129
	130	/// \brief Get a rounded version of this vector
	131	/// \return a rounded vector
	132	public: Vector2 Rounded() const
	133	{
	134	Vector2<T> result = *this;
	135	result.Round();
	136	return result;
	137	}
	138
103	139	/// \brief Set the contents of the vector
104	140	/// \param[in] _x value along x
105	141	/// \param[in] _y value along y

115	151	public: T Dot(const Vector2<T> &_v) const
116	152	{
117	153	return (this->data[0] * _v[0]) + (this->data[1] * _v[1]);
	154	}
	155
	156	/// \brief Get the absolute value of the vector
	157	/// \return a vector with positive elements
	158	public: Vector2 Abs() const
	159	{
	160	return Vector2(std::abs(this->data[0]),
	161	std::abs(this->data[1]));
	162	}
	163
	164	/// \brief Return the absolute dot product of this vector and
	165	/// another vector. This is similar to the Dot function, except the
	166	/// absolute value of each component of the vector is used.
	167	///
	168	/// result = abs(x1 * x2) + abs(y1 * y2)
	169	///
	170	/// \param[in] _v The vector
	171	/// \return The absolute dot product
	172	public: T AbsDot(const Vector2<T> &_v) const
	173	{
	174	return std::abs(this->data[0] * _v[0]) +
	175	std::abs(this->data[1] * _v[1]);
	176	}
	177
	178	/// \brief Corrects any nan values
	179	public: inline void Correct()
	180	{
	181	// std::isfinite works with floating point values,
	182	// need to explicit cast to avoid ambiguity in vc++.
	183	if (!std::isfinite(static_cast<double>(this->data[0])))
	184	this->data[0] = 0;
	185	if (!std::isfinite(static_cast<double>(this->data[1])))
	186	this->data[1] = 0;
	187	}
	188
	189	/// \brief Set this vector's components to the maximum of itself and the
	190	/// passed in vector
	191	/// \param[in] _v the maximum clamping vector
	192	public: void Max(const Vector2<T> &_v)
	193	{
	194	this->data[0] = std::max(_v[0], this->data[0]);
	195	this->data[1] = std::max(_v[1], this->data[1]);
	196	}
	197
	198	/// \brief Set this vector's components to the minimum of itself and the
	199	/// passed in vector
	200	/// \param[in] _v the minimum clamping vector
	201	public: void Min(const Vector2<T> &_v)
	202	{
	203	this->data[0] = std::min(_v[0], this->data[0]);
	204	this->data[1] = std::min(_v[1], this->data[1]);
	205	}
	206
	207	/// \brief Get the maximum value in the vector
	208	/// \return the maximum element
	209	public: T Max() const
	210	{
	211	return std::max(this->data[0], this->data[1]);
	212	}
	213
	214	/// \brief Get the minimum value in the vector
	215	/// \return the minimum element
	216	public: T Min() const
	217	{
	218	return std::min(this->data[0], this->data[1]);
118	219	}
119	220
120	221	/// \brief Assignment operator

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include/ignition/math/Vector3.hh less more

321	321	}
322	322
323	323	/// \brief Assignment operator
324		/// \param[in] _value assigned to all elements
	324	/// \param[in] _v assigned to all elements
325	325	/// \return this
326	326	public: Vector3 &operator=(T _v)
327	327	{

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include/ignition/math/Vector4.hh less more

16	16	#ifndef IGNITION_MATH_VECTOR4_HH_
17	17	#define IGNITION_MATH_VECTOR4_HH_
18	18
	19	#include <algorithm>
	20
19	21	#include <ignition/math/Matrix4.hh>
20	22	#include <ignition/math/Helpers.hh>
21	23	#include <ignition/math/config.hh>

81	83	(this->data[3]-_pt[3])*(this->data[3]-_pt[3]));
82	84	}
83	85
	86	/// \brief Calc distance to the given point
	87	/// \param[in] _x value along x
	88	/// \param[in] _y value along y
	89	/// \param[in] _z value along z
	90	/// \param[in] _w value along w
	91	/// \return the distance
	92	public: T Distance(T _x, T _y, T _z, T _w) const
	93	{
	94	return this->Distance(Vector4(_x, _y, _z, _w));
	95	}
	96
84	97	/// \brief Returns the length (magnitude) of the vector
85	98	/// \return The length
86	99	public: T Length() const

96	109	+ std::pow(this->data[1], 2)
97	110	+ std::pow(this->data[2], 2)
98	111	+ std::pow(this->data[3], 2);
	112	}
	113
	114	/// \brief Round to near whole number.
	115	public: void Round()
	116	{
	117	this->data[0] = nearbyint(this->data[0]);
	118	this->data[1] = nearbyint(this->data[1]);
	119	this->data[2] = nearbyint(this->data[2]);
	120	this->data[3] = nearbyint(this->data[3]);
	121	}
	122
	123	/// \brief Get a rounded version of this vector
	124	/// \return a rounded vector
	125	public: Vector4 Rounded() const
	126	{
	127	Vector4<T> result = *this;
	128	result.Round();
	129	return result;
	130	}
	131
	132	/// \brief Corrects any nan values
	133	public: inline void Correct()
	134	{
	135	// std::isfinite works with floating point values,
	136	// need to explicit cast to avoid ambiguity in vc++.
	137	if (!std::isfinite(static_cast<double>(this->data[0])))
	138	this->data[0] = 0;
	139	if (!std::isfinite(static_cast<double>(this->data[1])))
	140	this->data[1] = 0;
	141	if (!std::isfinite(static_cast<double>(this->data[2])))
	142	this->data[2] = 0;
	143	if (!std::isfinite(static_cast<double>(this->data[3])))
	144	this->data[3] = 0;
99	145	}
100	146
101	147	/// \brief Normalize the vector length

112	158	}
113	159	}
114	160
	161	/// \brief Return a normalized vector
	162	/// \return unit length vector
	163	public: Vector4 Normalized() const
	164	{
	165	Vector4<T> result = *this;
	166	result.Normalize();
	167	return result;
	168	}
	169
	170	/// \brief Return the dot product of this vector and another vector
	171	/// \param[in] _v the vector
	172	/// \return the dot product
	173	public: T Dot(const Vector4<T> &_v) const
	174	{
	175	return this->data[0] * _v[0] +
	176	this->data[1] * _v[1] +
	177	this->data[2] * _v[2] +
	178	this->data[3] * _v[3];
	179	}
	180
	181	/// \brief Return the absolute dot product of this vector and
	182	/// another vector. This is similar to the Dot function, except the
	183	/// absolute value of each component of the vector is used.
	184	///
	185	/// result = abs(x1 * x2) + abs(y1 * y2) + abs(z1 * z2) + abs(w1 * w2)
	186	///
	187	/// \param[in] _v the vector
	188	/// \return The absolute dot product
	189	public: T AbsDot(const Vector4<T> &_v) const
	190	{
	191	return std::abs(this->data[0] * _v[0]) +
	192	std::abs(this->data[1] * _v[1]) +
	193	std::abs(this->data[2] * _v[2]) +
	194	std::abs(this->data[3] * _v[3]);
	195	}
	196
	197	/// \brief Get the absolute value of the vector
	198	/// \return a vector with positive elements
	199	public: Vector4 Abs() const
	200	{
	201	return Vector4(std::abs(this->data[0]),
	202	std::abs(this->data[1]),
	203	std::abs(this->data[2]),
	204	std::abs(this->data[3]));
	205	}
	206
115	207	/// \brief Set the contents of the vector
116	208	/// \param[in] _x value along x axis
117	209	/// \param[in] _y value along y axis

125	217	this->data[3] = _w;
126	218	}
127	219
	220	/// \brief Set this vector's components to the maximum of itself and the
	221	/// passed in vector
	222	/// \param[in] _v the maximum clamping vector
	223	public: void Max(const Vector4<T> &_v)
	224	{
	225	this->data[0] = std::max(_v[0], this->data[0]);
	226	this->data[1] = std::max(_v[1], this->data[1]);
	227	this->data[2] = std::max(_v[2], this->data[2]);
	228	this->data[3] = std::max(_v[3], this->data[3]);
	229	}
	230
	231	/// \brief Set this vector's components to the minimum of itself and the
	232	/// passed in vector
	233	/// \param[in] _v the minimum clamping vector
	234	public: void Min(const Vector4<T> &_v)
	235	{
	236	this->data[0] = std::min(_v[0], this->data[0]);
	237	this->data[1] = std::min(_v[1], this->data[1]);
	238	this->data[2] = std::min(_v[2], this->data[2]);
	239	this->data[3] = std::min(_v[3], this->data[3]);
	240	}
	241
	242	/// \brief Get the maximum value in the vector
	243	/// \return the maximum element
	244	public: T Max() const
	245	{
	246	return *std::max_element(this->data, this->data+4);
	247	}
	248
	249	/// \brief Get the minimum value in the vector
	250	/// \return the minimum element
	251	public: T Min() const
	252	{
	253	return *std::min_element(this->data, this->data+4);
	254	}
	255
	256	/// \brief Return the sum of the values
	257	/// \return the sum
	258	public: T Sum() const
	259	{
	260	return this->data[0] + this->data[1] + this->data[2] + this->data[3];
	261	}
	262
128	263	/// \brief Assignment operator
129	264	/// \param[in] _v the vector
130	265	/// \return a reference to this vector

305	440	/// \brief Division assignment operator
306	441	/// \remarks Performs element wise division,
307	442	/// which has limited use.
308		/// \param[in] _pt another vector
	443	/// \param[in] _v another vector
309	444	/// \return a result vector
310	445	public: const Vector4<T> operator/(T _v) const
311	446	{

547	682	this->data[3] = _v;
548	683	}
549	684
	685	/// \brief Less than operator.
	686	/// \param[in] _pt Vector to compare.
	687	/// \return True if this vector's X(), Y(), Z() or W() value is less
	688	/// than the given vector's corresponding values.
	689	public: bool operator<(const Vector4<T> &_pt) const
	690	{
	691	return this->data[0] < _pt[0] \|\| this->data[1] < _pt[1] \|\|
	692	this->data[2] < _pt[2] \|\| this->data[3] < _pt[3];
	693	}
	694
550	695	/// \brief Stream insertion operator
551	696	/// \param[in] _out output stream
552	697	/// \param[in] _pt Vector4 to output

+4

-4

include/ignition/math/config.hh.in less more

0	0	/* Config.hh. Generated by CMake for @PROJECT_NAME_NO_VERSION@. */
1	1
2	2	/* Version number */
3		#define IGNITION_MATH_MAJOR_VERSION ${PROJECT_MAJOR_VERSION}
4		#define IGNITION_MATH_MINOR_VERSION ${PROJECT_MINOR_VERSION}
5		#define IGNITION_MATH_PATCH_VERSION ${PROJECT_PATCH_VERSION}
	3	#define IGNITION_MATH_MAJOR_VERSION ${PROJECT_VERSION_MAJOR}
	4	#define IGNITION_MATH_MINOR_VERSION ${PROJECT_VERSION_MINOR}
	5	#define IGNITION_MATH_PATCH_VERSION ${PROJECT_VERSION_PATCH}
6	6
7	7	#define IGNITION_MATH_VERSION "${PROJECT_VERSION}"
8	8	#define IGNITION_MATH_VERSION_FULL "${PROJECT_VERSION_FULL}"
9	9
10	10	#define IGNITION_MATH_VERSION_NAMESPACE v${PROJECT_VERSION_MAJOR}
11	11
12		#define IGNITION_MATH_VERSION_HEADER "Ignition math, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2014 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n"
	12	#define IGNITION_MATH_VERSION_HEADER "Ignition ${IGN_DESIGNATION}, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2014 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n"
13	13
14	14	#cmakedefine IGNITION_MATH_BUILD_TYPE_PROFILE 1
15	15	#cmakedefine IGNITION_MATH_BUILD_TYPE_DEBUG 1

+166

-0

include/ignition/math/detail/Capsule.hh less more

	0	/*
	1	* Copyright (C) 2020 Open Source Robotics Foundation
	2	*
	3	* Licensed under the Apache License, Version 2.0 (the "License");
	4	* you may not use this file except in compliance with the License.
	5	* You may obtain a copy of the License at
	6	*
	7	* http://www.apache.org/licenses/LICENSE-2.0
	8	*
	9	* Unless required by applicable law or agreed to in writing, software
	10	* distributed under the License is distributed on an "AS IS" BASIS,
	11	* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	12	* See the License for the specific language governing permissions and
	13	* limitations under the License.
	14	*
	15	*/
	16	#ifndef IGNITION_MATH_DETAIL_CAPSULE_HH_
	17	#define IGNITION_MATH_DETAIL_CAPSULE_HH_
	18
	19	#include <limits>
	20	#include <optional>
	21	#include <ignition/math/Helpers.hh>
	22	#include <ignition/math/Inertial.hh>
	23
	24	namespace ignition
	25	{
	26	namespace math
	27	{
	28
	29	//////////////////////////////////////////////////
	30	template<typename T>
	31	Capsule<T>::Capsule(const T _length, const T _radius)
	32	{
	33	this->length = _length;
	34	this->radius = _radius;
	35	}
	36
	37	//////////////////////////////////////////////////
	38	template<typename T>
	39	Capsule<T>::Capsule(const T _length, const T _radius, const Material &_mat)
	40	{
	41	this->length = _length;
	42	this->radius = _radius;
	43	this->material = _mat;
	44	}
	45
	46	//////////////////////////////////////////////////
	47	template<typename T>
	48	T Capsule<T>::Radius() const
	49	{
	50	return this->radius;
	51	}
	52
	53	//////////////////////////////////////////////////
	54	template<typename T>
	55	void Capsule<T>::SetRadius(const T _radius)
	56	{
	57	this->radius = _radius;
	58	}
	59
	60	//////////////////////////////////////////////////
	61	template<typename T>
	62	T Capsule<T>::Length() const
	63	{
	64	return this->length;
	65	}
	66
	67	//////////////////////////////////////////////////
	68	template<typename T>
	69	void Capsule<T>::SetLength(const T _length)
	70	{
	71	this->length = _length;
	72	}
	73
	74	//////////////////////////////////////////////////
	75	template<typename T>
	76	const Material &Capsule<T>::Mat() const
	77	{
	78	return this->material;
	79	}
	80
	81	//////////////////////////////////////////////////
	82	template<typename T>
	83	void Capsule<T>::SetMat(const Material &_mat)
	84	{
	85	this->material = _mat;
	86	}
	87
	88	//////////////////////////////////////////////////
	89	template<typename T>
	90	bool Capsule<T>::operator==(const Capsule &_capsule) const
	91	{
	92	return equal(this->radius, _capsule.Radius()) &&
	93	equal(this->length, _capsule.Length()) &&
	94	this->material == _capsule.Mat();
	95	}
	96
	97	//////////////////////////////////////////////////
	98	template<typename T>
	99	std::optional< MassMatrix3<T> > Capsule<T>::MassMatrix() const
	100	{
	101	// mass and moment of inertia of cylinder about centroid
	102	MassMatrix3<T> cylinder;
	103	cylinder.SetFromCylinderZ(this->material, this->length, this->radius);
	104
	105	// mass and moment of inertia of hemisphere about centroid
	106	const T r2 = this->radius * this->radius;
	107	const T hemisphereMass = this->material.Density() *
	108	2. / 3. * IGN_PI * r2 * this->radius;
	109	// efunda.com/math/solids/solids_display.cfm?SolidName=Hemisphere
	110	const T ixx = 83. / 320. * hemisphereMass * r2;
	111	const T izz = 2. / 5. * hemisphereMass * r2;
	112	MassMatrix3<T> hemisphere(hemisphereMass, Vector3<T>(ixx, ixx, izz),
	113	Vector3<T>::Zero);;
	114
	115	// Distance from centroid of cylinder to centroid of hemisphere,
	116	// since centroid of hemisphere is 3/8 radius from its flat base
	117	const T dz = this->length / 2. + this->radius * 3. / 8.;
	118	Inertial<T> upperCap(hemisphere, Pose3<T>(0, 0, dz, 0, 0, 0));
	119	Inertial<T> lowerCap(hemisphere, Pose3<T>(0, 0, -dz, 0, 0, 0));
	120
	121	// Use Inertial class to add MassMatrix3 objects at different poses
	122	Inertial<T> capsule =
	123	Inertial<T>(cylinder, Pose3<T>::Zero) + upperCap + lowerCap;
	124
	125	if (!capsule.MassMatrix().IsValid())
	126	{
	127	return std::nullopt;
	128	}
	129
	130	return std::make_optional(capsule.MassMatrix());
	131	}
	132
	133	//////////////////////////////////////////////////
	134	template<typename T>
	135	T Capsule<T>::Volume() const
	136	{
	137	return IGN_PI * std::pow(this->radius, 2) *
	138	(this->length + 4. / 3. * this->radius);
	139	}
	140
	141	//////////////////////////////////////////////////
	142	template<typename T>
	143	bool Capsule<T>::SetDensityFromMass(const T _mass)
	144	{
	145	T newDensity = this->DensityFromMass(_mass);
	146	if (isnan(newDensity))
	147	return false;
	148
	149	this->material.SetDensity(newDensity);
	150	return true;
	151	}
	152
	153	//////////////////////////////////////////////////
	154	template<typename T>
	155	T Capsule<T>::DensityFromMass(const T _mass) const
	156	{
	157	if (this->radius <= 0 \|\| this->length <=0 \|\| _mass <= 0)
	158	return std::numeric_limits<T>::quiet_NaN();
	159
	160	return _mass / this->Volume();
	161	}
	162
	163	}
	164	}
	165	#endif

+4

-4

include/ignition/math/graph/Edge.hh less more

34	34	inline namespace IGNITION_MATH_VERSION_NAMESPACE {
35	35	namespace graph
36	36	{
37		/// \def EdgeId.
	37	/// \typedef EdgeId.
38	38	/// \brief The unique Id for an edge.
39	39	using EdgeId = uint64_t;
40	40

160	160	/// (v1) and the head end (v2): (v1)->(v2). The operation e2.To(v1)
161	161	/// returns kNullId. The operation e2.To(v2) returns v1.
162	162	///
163		/// \param[in] _from Destination vertex.
	163	/// \param[in] _to Destination vertex.
164	164	/// \return The other vertex of the edge that can reach "_to"
165	165	/// vertex or kNullId otherwise.
166	166	public: virtual VertexId To(const VertexId &_to) const = 0;

243	243	/// description language.
244	244	/// \param[out] _out The output stream.
245	245	/// \param[in] _e Edge to write to the stream.
246		/// \ref https://en.wikipedia.org/wiki/DOT_(graph_description_language).
	246	/// \sa https://en.wikipedia.org/wiki/DOT_(graph_description_language).
247	247	public: friend std::ostream &operator<<(std::ostream &_out,
248	248	const UndirectedEdge<E> &_e)
249	249	{

319	319	/// description language.
320	320	/// \param[out] _out The output stream.
321	321	/// \param[in] _e Edge to write to the stream.
322		/// \ref https://en.wikipedia.org/wiki/DOT_(graph_description_language).
	322	/// \sa https://en.wikipedia.org/wiki/DOT_(graph_description_language).
323	323	public: friend std::ostream &operator<<(std::ostream &_out,
324	324	const DirectedEdge<E> &_e)
325	325	{

+2

-1

include/ignition/math/graph/Graph.hh less more

204	204	/// \brief Add a new edge to the graph.
205	205	/// \param[in] _vertices The set of Ids of the two vertices.
206	206	/// \param[in] _data User data.
	207	/// \param[in] _weight Edge weight.
207	208	/// \return Reference to the new edge created or NullEdge if the
208	209	/// edge was not created (e.g. incorrect vertices).
209	210	public: EdgeType &AddEdge(const VertexId_P &_vertices,

683	684	/// description language.
684	685	/// \param[out] _out The output stream.
685	686	/// \param[in] _g Graph to write to the stream.
686		/// \ref https://en.wikipedia.org/wiki/DOT_(graph_description_language).
	687	/// \sa https://en.wikipedia.org/wiki/DOT_(graph_description_language).
687	688	public: template<typename VV, typename EE, typename EEdgeType>
688	689	friend std::ostream &operator<<(std::ostream &_out,
689	690	const Graph<VV, EE, EEdgeType> &_g);

+29

-2

include/ignition/math/graph/GraphAlgorithms.hh less more

36	36	inline namespace IGNITION_MATH_VERSION_NAMESPACE {
37	37	namespace graph
38	38	{
39		/// \def CostInfo.
	39	/// \typedef CostInfo.
40	40	/// \brief Used in Dijkstra. For a given source vertex, this pair represents
41	41	/// the cost (first element) to reach a destination vertex (second element).
42	42	using CostInfo = std::pair<double, VertexId>;

281	281	/// A connected component of an undirected graph is a subgraph in which any
282	282	/// two vertices are connected to each other by paths, and which is connected
283	283	/// to no additional vertices in the supergraph.
284		/// \ref https://en.wikipedia.org/wiki/Connected_component_(graph_theory)
	284	/// \sa https://en.wikipedia.org/wiki/Connected_component_(graph_theory)
285	285	/// \param[in] _graph A graph.
286	286	/// \return A vector of graphs. Each element of the graph is a component
287	287	/// (subgraph) of the original graph.

324	324
325	325	return res;
326	326	}
	327
	328	/// \brief Copy a DirectedGraph to an UndirectedGraph with the same vertices
	329	/// and edges.
	330	/// \param[in] _graph A directed graph.
	331	/// \return An undirected graph with the same vertices and edges as the
	332	/// original graph.
	333	template<typename V, typename E>
	334	UndirectedGraph<V, E> ToUndirectedGraph(const DirectedGraph<V, E> &_graph)
	335	{
	336	std::vector<Vertex<V>> vertices;
	337	std::vector<EdgeInitializer<E>> edges;
	338
	339	// Add all vertices.
	340	for (auto const &vPair : _graph.Vertices())
	341	{
	342	vertices.push_back(vPair.second.get());
	343	}
	344
	345	// Add all edges.
	346	for (auto const &ePair : _graph.Edges())
	347	{
	348	auto const &e = ePair.second.get();
	349	edges.push_back({e.Vertices(), e.Data(), e.Weight()});
	350	}
	351
	352	return UndirectedGraph<V, E>(vertices, edges);
	353	}
327	354	}
328	355	}
329	356	}

+2

-2

include/ignition/math/graph/Vertex.hh less more

35	35	inline namespace IGNITION_MATH_VERSION_NAMESPACE {
36	36	namespace graph
37	37	{
38		/// \def VertexId.
	38	/// \typedef VertexId.
39	39	/// \brief The unique Id of each vertex.
40	40	using VertexId = uint64_t;
41	41

114	114	/// description language.
115	115	/// \param[out] _out The output stream.
116	116	/// \param[in] _v Vertex to write to the stream.
117		/// \ref https://en.wikipedia.org/wiki/DOT_(graph_description_language).
	117	/// \sa https://en.wikipedia.org/wiki/DOT_(graph_description_language).
118	118	public: friend std::ostream &operator<<(std::ostream &_out,
119	119	const Vertex<V> &_v)
120	120	{

+18

-0

src/Angle.cc less more

53	53	}
54	54
55	55	//////////////////////////////////////////////////
	56	void Angle::SetRadian(double _radian)
	57	{
	58	this->value = _radian;
	59	}
	60
	61	//////////////////////////////////////////////////
56	62	void Angle::Degree(double _degree)
	63	{
	64	this->value = _degree * IGN_PI / 180.0;
	65	}
	66
	67	//////////////////////////////////////////////////
	68	void Angle::SetDegree(double _degree)
57	69	{
58	70	this->value = _degree * IGN_PI / 180.0;
59	71	}

74	86	void Angle::Normalize()
75	87	{
76	88	this->value = atan2(sin(this->value), cos(this->value));
	89	}
	90
	91	//////////////////////////////////////////////////
	92	Angle Angle::Normalized() const
	93	{
	94	return atan2(sin(this->value), cos(this->value));
77	95	}
78	96
79	97	//////////////////////////////////////////////////

+3

-2

src/Angle.i less more

33	33	public: Angle(double _radian);
34	34	public: Angle(const Angle &_angle);
35	35	public: virtual ~Angle();
36		public: void Radian(double _radian);
37		public: void Degree(double _degree);
	36	public: void SetRadian(double _radian);
	37	public: void SetDegree(double _degree);
38	38	public: double Radian() const;
39	39	public: double Degree() const;
40	40	public: void Normalize();
	41	public: Angle Normalized() const;
41	42	public: inline double operator*() const;
42	43	public: Angle operator-(const Angle &_angle) const;
43	44	public: Angle operator+(const Angle &_angle) const;

+7

-0

src/Angle_TEST.cc less more

29	29	math::Angle angle1;
30	30	EXPECT_TRUE(math::equal(0.0, angle1.Radian()));
31	31
	32	angle1.SetDegree(90.0);
	33	EXPECT_TRUE(angle1 == IGN_PI_2);
32	34	angle1.Degree(180.0);
33	35	EXPECT_TRUE(angle1 == IGN_PI);
34	36

44	46	math::Angle angle(0.5);
45	47	EXPECT_TRUE(math::equal(0.5, angle.Radian()));
46	48
	49	angle.SetRadian(IGN_PI_2);
	50	EXPECT_TRUE(math::equal(IGN_RTOD(IGN_PI_2), angle.Degree()));
	51
47	52	angle.Radian(IGN_PI);
48	53	EXPECT_TRUE(math::equal(IGN_RTOD(IGN_PI), angle.Degree()));
49	54
	55	math::Angle normalized = angle.Normalized();
50	56	angle.Normalize();
51	57	EXPECT_TRUE(math::equal(IGN_RTOD(IGN_PI), angle.Degree()));
	58	EXPECT_EQ(normalized, angle);
52	59
53	60	angle = math::Angle(0.1) + math::Angle(0.2);
54	61	EXPECT_TRUE(math::equal(0.3, angle.Radian()));

+6

-3

src/Angle_TEST.rb less more

24	24	assert(angle1.Radian() == 0.0,
25	25	"Angle::Radian() should equal zero")
26	26
27		angle1.Degree(180.0)
	27	angle1.SetDegree(180.0)
28	28	assert(angle1 == Ignition::Math::Angle.Pi,
29	29	"180.0 degrees should equal PI")
30	30

52	52	angle = Ignition::Math::Angle.new(0.5)
53	53	assert(0.5 == angle.Radian, "Angle should equal 0.5")
54	54
55		angle.Radian(Math::PI)
	55	angle.SetRadian(Math::PI)
56	56	assert(Ignition::Math::Angle.Pi.Degree == angle.Degree,
57		"Pi in degrees should equal Angle.Radian(Pi).Degree")
	57	"Pi in degrees should equal Angle.SetRadian(Pi).Degree")
	58
	59	angleNorm = angle.Normalized()
58	60
59	61	angle.Normalize()
60	62	assert(Ignition::Math::Angle.new(Math::PI).Degree == angle.Degree,
61	63	"Normalized angle should equal PI")
	64	assert(angleNorm == angle, "Normalized angles should be equal")
62	65
63	66	angle = Ignition::Math::Angle.new(0.1) + Ignition::Math::Angle.new(0.2)
64	67	assert((angle.Radian - 0.3).abs < 1e-6, "Angle should equal 0.3")

+11

-0

src/AxisAlignedBox.cc less more

158	158	}
159	159
160	160	//////////////////////////////////////////////////
	161	AxisAlignedBox AxisAlignedBox::operator+(const Vector3d &_v)
	162	{
	163	return AxisAlignedBox(this->dataPtr->min + _v, this->dataPtr->max + _v);
	164	}
	165
	166	//////////////////////////////////////////////////
161	167	bool AxisAlignedBox::Intersects(const AxisAlignedBox &_box) const
162	168	{
163	169	// Check the six separating planes.

277	283	dir.Normalize();
278	284	return this->Intersect(Line3d(_origin + dir * _min, _origin + dir * _max));
279	285	}
	286	/////////////////////////////////////////////////
	287	double AxisAlignedBox::Volume() const
	288	{
	289	return this->XLength() * this->YLength() * this->ZLength();
	290	}
280	291
281	292	/////////////////////////////////////////////////
282	293	// Find the intersection of a line from v0 to v1 and an

+27

-0

src/AxisAlignedBox_TEST.cc less more

208	208	}
209	209
210	210	/////////////////////////////////////////////////
	211	TEST(AxisAlignedBoxTest, Plus)
	212	{
	213	AxisAlignedBox box1(1, 2, 3, 4, 5, 6);
	214	Vector3d add(1, 1, 1);
	215
	216	AxisAlignedBox box2 = box1 + add;
	217	EXPECT_EQ(box2.Min(), box1.Min() + add);
	218	EXPECT_EQ(box2.Max(), box1.Max() + add);
	219	}
	220
	221	/////////////////////////////////////////////////
211	222	TEST(AxisAlignedBoxTest, PlusEmpty)
212	223	{
213	224	AxisAlignedBox box1;

238	249	box.Merge(AxisAlignedBox(Vector3d(-1, -1, -1), Vector3d(2, 2, 2)));
239	250	EXPECT_TRUE(box == AxisAlignedBox(Vector3d(-1, -2, -1),
240	251	Vector3d(2, 2, 3)));
	252	}
	253
	254	/////////////////////////////////////////////////
	255	TEST_F(ExampleAxisAlignedBox, Volume)
	256	{
	257	EXPECT_DOUBLE_EQ(1.0, box.Volume());
241	258	}
242	259
243	260	/////////////////////////////////////////////////

565	582	Vector3d(-0.707107, 0, -0.707107), 0, 1000)), dist, 1e-5);
566	583	EXPECT_EQ(pt, Vector3d(1, 0, 0.3));
567	584	}
	585
	586	/////////////////////////////////////////////////
	587	TEST(AxisAlignedBoxTest, Volume)
	588	{
	589	AxisAlignedBox box;
	590	EXPECT_DOUBLE_EQ(0.0, box.Volume());
	591
	592	AxisAlignedBox box2(math::Vector3d(-1, -2, -3), math::Vector3d(1, 2, 3));
	593	EXPECT_DOUBLE_EQ(48.0, box2.Volume());
	594	}

+4

-1

src/CMakeLists.txt less more

22	22	set(swig_files
23	23	ruby
24	24	Angle
	25	GaussMarkovProcess
	26	Rand
25	27	Vector2
26		Vector3)
	28	Vector3
	29	Vector4)
27	30	endif()
28	31
29	32	#################################################

+130

-0

src/Capsule_TEST.cc less more

	0	/*
	1	* Copyright (C) 2020 Open Source Robotics Foundation
	2	*
	3	* Licensed under the Apache License, Version 2.0 (the "License");
	4	* you may not use this file except in compliance with the License.
	5	* You may obtain a copy of the License at
	6	*
	7	* http://www.apache.org/licenses/LICENSE-2.0
	8	*
	9	* Unless required by applicable law or agreed to in writing, software
	10	* distributed under the License is distributed on an "AS IS" BASIS,
	11	* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	12	* See the License for the specific language governing permissions and
	13	* limitations under the License.
	14	*
	15	*/
	16	#include <gtest/gtest.h>
	17	#include <cmath>
	18	#include <iostream>
	19
	20	#include "ignition/math/Capsule.hh"
	21	#include "ignition/math/Helpers.hh"
	22
	23	using namespace ignition;
	24
	25	/////////////////////////////////////////////////
	26	TEST(CapsuleTest, Constructor)
	27	{
	28	// Default constructor
	29	{
	30	math::Capsuled capsule;
	31	EXPECT_DOUBLE_EQ(0.0, capsule.Length());
	32	EXPECT_DOUBLE_EQ(0.0, capsule.Radius());
	33	EXPECT_EQ(math::Material(), capsule.Mat());
	34
	35	math::Capsuled capsule2;
	36	EXPECT_EQ(capsule, capsule2);
	37	}
	38
	39	// Length and radius constructor
	40	{
	41	math::Capsuled capsule(1.0, 2.0);
	42	EXPECT_DOUBLE_EQ(1.0, capsule.Length());
	43	EXPECT_DOUBLE_EQ(2.0, capsule.Radius());
	44	EXPECT_EQ(math::Material(), capsule.Mat());
	45
	46	math::Capsuled capsule2(1.0, 2.0);
	47	EXPECT_EQ(capsule, capsule2);
	48	}
	49
	50	// Length, radius, mat
	51	{
	52	math::Capsuled capsule(1.0, 2.0,
	53	math::Material(math::MaterialType::WOOD));
	54	EXPECT_DOUBLE_EQ(1.0, capsule.Length());
	55	EXPECT_DOUBLE_EQ(2.0, capsule.Radius());
	56	EXPECT_EQ(math::Material(math::MaterialType::WOOD), capsule.Mat());
	57
	58	math::Capsuled capsule2(1.0, 2.0,
	59	math::Material(math::MaterialType::WOOD));
	60	EXPECT_EQ(capsule, capsule2);
	61	}
	62	}
	63
	64	//////////////////////////////////////////////////
	65	TEST(CapsuleTest, Mutators)
	66	{
	67	math::Capsuled capsule;
	68	EXPECT_DOUBLE_EQ(0.0, capsule.Length());
	69	EXPECT_DOUBLE_EQ(0.0, capsule.Radius());
	70	EXPECT_EQ(math::Material(), capsule.Mat());
	71
	72	capsule.SetLength(100.1);
	73	capsule.SetRadius(.123);
	74	capsule.SetMat(math::Material(math::MaterialType::PINE));
	75
	76	EXPECT_DOUBLE_EQ(100.1, capsule.Length());
	77	EXPECT_DOUBLE_EQ(.123, capsule.Radius());
	78	EXPECT_EQ(math::Material(math::MaterialType::PINE), capsule.Mat());
	79	}
	80
	81	//////////////////////////////////////////////////
	82	TEST(CapsuleTest, VolumeAndDensity)
	83	{
	84	double mass = 1.0;
	85	math::Capsuled capsule(1.0, 0.001);
	86	double expectedVolume = (IGN_PI * std::pow(0.001, 2) * (1.0 + 4./3. * 0.001));
	87	EXPECT_DOUBLE_EQ(expectedVolume, capsule.Volume());
	88
	89	double expectedDensity = mass / expectedVolume;
	90	EXPECT_DOUBLE_EQ(expectedDensity, capsule.DensityFromMass(mass));
	91
	92	// Bad density
	93	math::Capsuled capsule2;
	94	EXPECT_TRUE(math::isnan(capsule2.DensityFromMass(mass)));
	95	}
	96
	97	//////////////////////////////////////////////////
	98	TEST(CapsuleTest, Mass)
	99	{
	100	double mass = 2.0;
	101	double l = 2.0;
	102	double r = 0.1;
	103	math::Capsuled capsule(l, r);
	104	capsule.SetDensityFromMass(mass);
	105
	106	const double cylinderVolume = IGN_PI * rr l;
	107	const double sphereVolume = IGN_PI * 4. / 3. * rrr;
	108	const double volume = cylinderVolume + sphereVolume;
	109	const double cylinderMass = mass * cylinderVolume / volume;
	110	const double sphereMass = mass * sphereVolume / volume;
	111
	112	// expected values based on formula used in Open Dynamics Engine
	113	// https://bitbucket.org/odedevs/ode/src/0.16.2/ode/src/mass.cpp#lines-148:153
	114	// and the following article:
	115	// https://www.gamedev.net/tutorials/_/technical/math-and-physics/capsule-inertia-tensor-r3856/
	116	double ixxIyy = (1/12.0) * cylinderMass * (3rr + l*l)
	117	+ sphereMass * (0.4rr + 0.375rl + 0.25ll);
	118	double izz = rr (0.5 * cylinderMass + 0.4 * sphereMass);
	119
	120	math::MassMatrix3d expectedMassMat;
	121	expectedMassMat.SetInertiaMatrix(ixxIyy, ixxIyy, izz, 0.0, 0.0, 0.0);
	122	expectedMassMat.SetMass(mass);
	123
	124	auto massMat = capsule.MassMatrix();
	125	ASSERT_NE(std::nullopt, massMat);
	126	EXPECT_EQ(expectedMassMat, *massMat);
	127	EXPECT_EQ(expectedMassMat.DiagonalMoments(), massMat->DiagonalMoments());
	128	EXPECT_DOUBLE_EQ(expectedMassMat.Mass(), massMat->Mass());
	129	}

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src/Color_TEST.cc less more

336	336	}
337	337
338	338	/////////////////////////////////////////////////
	339	TEST(Color, OperatorStreamIn)
	340	{
	341	math::Color c(0.1f, 0.2f, 0.3f, 0.5f);
	342	math::Color test;
	343	std::stringstream ss("0.1 0.2 0.3 0.5");
	344	ss >> test;
	345	EXPECT_EQ(c, test);
	346	}
	347
	348	/////////////////////////////////////////////////
	349	TEST(Color, OperatorStreamInWithoutAlpha)
	350	{
	351	math::Color c(0.1f, 0.2f, 0.3f, 1.0f);
	352	{
	353	math::Color test;
	354	std::stringstream ss("0.1 0.2 0.3");
	355	ss.exceptions(std::stringstream::failbit);
	356	EXPECT_NO_THROW(ss >> test);
	357	EXPECT_EQ(c, test);
	358	}
	359	{
	360	math::Color test;
	361	std::stringstream ss("0.1 0.2 \t0.3 \t");
	362	ss.exceptions(std::stringstream::failbit);
	363	EXPECT_NO_THROW(ss >> test);
	364	EXPECT_EQ(c, test);
	365	}
	366
	367	{
	368	math::Color test(0.5f, 0.6f, 0.7f, 0.8f);
	369	std::stringstream ss("0.1 0.2 \t0.3 \t");
	370	ss.exceptions(std::stringstream::failbit);
	371	EXPECT_NO_THROW(ss >> test);
	372	EXPECT_EQ(c, test);
	373	}
	374	}
	375
	376	/////////////////////////////////////////////////
339	377	TEST(Color, HSV)
340	378	{
341	379	math::Color clr;

+7

-7

src/Frustum_TEST.cc less more

192	192	// Field of view
193	193	Angle(IGN_DTOR(45)),
194	194	// Aspect ratio
195		320.0/320.0,
	195	1.0,
196	196	// Pose
197	197	Pose3d(0, 0, 0, 0, 0, IGN_PI*0.5));
198	198

222	222	// Field of view
223	223	Angle(IGN_DTOR(45)),
224	224	// Aspect ratio
225		320.0/320.0,
	225	1.0,
226	226	// Pose
227	227	Pose3d(0, 0, 0, 0, IGN_PI*0.5, 0));
228	228

253	253	// Field of view
254	254	Angle(IGN_DTOR(45)),
255	255	// Aspect ratio
256		320.0/320.0,
	256	1.0,
257	257	// Pose
258	258	Pose3d(0, 0, 0, 0, IGN_PI*0.5, 0));
259	259

278	278	// Field of view
279	279	Angle(IGN_DTOR(45)),
280	280	// Aspect ratio
281		320.0/320.0,
	281	1.0,
282	282	// Pose
283	283	Pose3d(0, 0, 0, 0, IGN_PI*0.5, 0));
284	284

300	300	// Field of view
301	301	Angle(IGN_DTOR(45)),
302	302	// Aspect ratio
303		320.0/320.0,
	303	1.0,
304	304	// Pose
305	305	Pose3d(0, 0, 0, 0, IGN_PI*0.5, 0));
306	306
307		EXPECT_DOUBLE_EQ(frustum.AspectRatio(), 320.0/320.0);
	307	EXPECT_DOUBLE_EQ(frustum.AspectRatio(), 1);
308	308
309	309	frustum.SetAspectRatio(1.3434);
310	310

322	322	// Field of view
323	323	Angle(IGN_DTOR(45)),
324	324	// Aspect ratio
325		320.0/320.0,
	325	1.0,
326	326	// Pose
327	327	Pose3d(0, 0, 0, 0, IGN_PI*0.5, 0));
328	328

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src/GaussMarkovProcess.cc less more

	0	/*
	1	* Copyright (C) 2020 Open Source Robotics Foundation
	2	*
	3	* Licensed under the Apache License, Version 2.0 (the "License");
	4	* you may not use this file except in compliance with the License.
	5	* You may obtain a copy of the License at
	6	*
	7	* http://www.apache.org/licenses/LICENSE-2.0
	8	*
	9	* Unless required by applicable law or agreed to in writing, software
	10	* distributed under the License is distributed on an "AS IS" BASIS,
	11	* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	12	* See the License for the specific language governing permissions and
	13	* limitations under the License.
	14	*
	15	*/
	16
	17	#include <ignition/math/GaussMarkovProcess.hh>
	18	#include <ignition/math/Rand.hh>
	19
	20	using namespace ignition::math;
	21
	22	//////////////////////////////////////////////////
	23	class ignition::math::GaussMarkovProcessPrivate
	24	{
	25	/// \brief Current process value.
	26	public: double value{0};
	27
	28	/// \brief Process start value.
	29	public: double start{0};
	30
	31	/// \brief Process theta value.
	32	public: double theta{0};
	33
	34	/// \brief Process mu value.
	35	public: double mu{0};
	36
	37	/// \brief Process sigma value.
	38	public: double sigma{0};
	39	};
	40
	41	//////////////////////////////////////////////////
	42	GaussMarkovProcess::GaussMarkovProcess()
	43	: dataPtr(new GaussMarkovProcessPrivate)
	44	{
	45	}
	46
	47	//////////////////////////////////////////////////
	48	GaussMarkovProcess::GaussMarkovProcess(double _start, double _theta, double _mu,
	49	double _sigma)
	50	: dataPtr(new GaussMarkovProcessPrivate)
	51	{
	52	this->Set(_start, _theta, _mu, _sigma);
	53	}
	54
	55	//////////////////////////////////////////////////
	56	GaussMarkovProcess::~GaussMarkovProcess()
	57	{
	58	}
	59
	60	//////////////////////////////////////////////////
	61	void GaussMarkovProcess::Set(double _start, double _theta, double _mu,
	62	double _sigma)
	63	{
	64	this->dataPtr->start = _start;
	65	this->dataPtr->theta = std::max(0.0, _theta);
	66	this->dataPtr->mu = _mu;
	67	this->dataPtr->sigma = std::max(0.0, _sigma);
	68	this->Reset();
	69	}
	70
	71	//////////////////////////////////////////////////
	72	void GaussMarkovProcess::Reset()
	73	{
	74	this->dataPtr->value = this->dataPtr->start;
	75	}
	76
	77	//////////////////////////////////////////////////
	78	double GaussMarkovProcess::Start() const
	79	{
	80	return this->dataPtr->start;
	81	}
	82
	83	//////////////////////////////////////////////////
	84	double GaussMarkovProcess::Value() const
	85	{
	86	return this->dataPtr->value;
	87	}
	88
	89	//////////////////////////////////////////////////
	90	double GaussMarkovProcess::Theta() const
	91	{
	92	return this->dataPtr->theta;
	93	}
	94
	95	//////////////////////////////////////////////////
	96	double GaussMarkovProcess::Mu() const
	97	{
	98	return this->dataPtr->mu;
	99	}
	100
	101	//////////////////////////////////////////////////
	102	double GaussMarkovProcess::Sigma() const
	103	{
	104	return this->dataPtr->sigma;
	105	}
	106
	107	//////////////////////////////////////////////////
	108	double GaussMarkovProcess::Update(const clock::duration &_dt)
	109	{
	110	// Time difference in seconds
	111	return this->Update(std::chrono::duration<double>(_dt).count());
	112	}
	113
	114	//////////////////////////////////////////////////
	115	double GaussMarkovProcess::Update(double _dt)
	116	{
	117	this->dataPtr->value += this->dataPtr->theta *
	118	(this->dataPtr->mu - this->dataPtr->value) * _dt +
	119	this->dataPtr->sigma * Rand::DblNormal(0, 1);
	120
	121	// Output the new value.
	122	return this->dataPtr->value;
	123	}

+43

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src/GaussMarkovProcess.i less more

	0	/*
	1	* Copyright (C) 2020 Open Source Robotics Foundation
	2	*
	3	* Licensed under the Apache License, Version 2.0 (the "License");
	4	* you may not use this file except in compliance with the License.
	5	* You may obtain a copy of the License at
	6	*
	7	* http://www.apache.org/licenses/LICENSE-2.0
	8	*
	9	* Unless required by applicable law or agreed to in writing, software
	10	* distributed under the License is distributed on an "AS IS" BASIS,
	11	* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	12	* See the License for the specific language governing permissions and
	13	* limitations under the License.
	14	*
	15	*/
	16
	17	%module gaussMarkovProcess
	18	%{
	19	#include <ignition/math/GaussMarkovProcess.hh>
	20	%}
	21
	22	namespace ignition
	23	{
	24	namespace math
	25	{
	26	class GaussMarkovProcess
	27	{
	28	public: GaussMarkovProcess();
	29	public: GaussMarkovProcess(double _start, double _theta, double _mu,
	30	double _sigma);
	31	public: ~GaussMarkovProcess();
	32	public: void Set(double _start, double _theta, double _mu, double _sigma);
	33	public: double Start() const;
	34	public: double Value() const;
	35	public: double Theta() const;
	36	public: double Mu() const;
	37	public: double Sigma() const;
	38	public: void Reset();
	39	public: double Update(double _dt);
	40	};
	41	}
	42	}

+105

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src/GaussMarkovProcess_TEST.cc less more

	0	/*
	1	* Copyright (C) 2020 Open Source Robotics Foundation
	2	*
	3	* Licensed under the Apache License, Version 2.0 (the "License");
	4	* you may not use this file except in compliance with the License.
	5	* You may obtain a copy of the License at
	6	*
	7	* http://www.apache.org/licenses/LICENSE-2.0
	8	*
	9	* Unless required by applicable law or agreed to in writing, software
	10	* distributed under the License is distributed on an "AS IS" BASIS,
	11	* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	12	* See the License for the specific language governing permissions and
	13	* limitations under the License.
	14	*
	15	*/
	16
	17	#include <gtest/gtest.h>
	18
	19	#include "ignition/math/GaussMarkovProcess.hh"
	20	#include "ignition/math/Helpers.hh"
	21	#include "ignition/math/Rand.hh"
	22
	23	using namespace ignition;
	24	using namespace math;
	25
	26	/////////////////////////////////////////////////
	27	TEST(GaussMarkovProcessTest, DefaultConstructor)
	28	{
	29	GaussMarkovProcess gmp;
	30	EXPECT_DOUBLE_EQ(0.0, gmp.Start());
	31	EXPECT_DOUBLE_EQ(0.0, gmp.Value());
	32	EXPECT_DOUBLE_EQ(0.0, gmp.Theta());
	33	EXPECT_DOUBLE_EQ(0.0, gmp.Mu());
	34	EXPECT_DOUBLE_EQ(0.0, gmp.Sigma());
	35	// EXPECT_EQ(clock::time_point(), gmp.LastUpdate());
	36	}
	37
	38	/////////////////////////////////////////////////
	39	TEST(GaussMarkovProcessTest, Update)
	40	{
	41	// Start value of -1.2
	42	// Theta (rate at which the process should approach the mean) of 1.0
	43	// Mu (mean value) 2.5.
	44	// Sigma (volatility) of 0.
	45	GaussMarkovProcess gmp(-1.2, 1.0, 2.5, 0);
	46	EXPECT_DOUBLE_EQ(-1.2, gmp.Start());
	47	EXPECT_DOUBLE_EQ(-1.2, gmp.Value());
	48	EXPECT_DOUBLE_EQ(1.0, gmp.Theta());
	49	EXPECT_DOUBLE_EQ(2.5, gmp.Mu());
	50	EXPECT_DOUBLE_EQ(0.0, gmp.Sigma());
	51	// EXPECT_EQ(clock::time_point(), gmp.LastUpdate());
	52
	53	clock::duration dt = std::chrono::milliseconds(100);
	54
	55	// This process should steadily increase to the mean value of 2.5 since
	56	// there is no noise.
	57	for (int i = 0; i < 200; ++i)
	58	{
	59	double value = gmp.Update(dt);
	60	EXPECT_GT(value, -1.2);
	61	}
	62
	63	EXPECT_NEAR(2.5, gmp.Value(), 1e-4);
	64
	65	// The same should occur after a reset.
	66	gmp.Reset();
	67	for (int i = 0; i < 200; ++i)
	68	{
	69	double value = gmp.Update(dt);
	70	EXPECT_GT(value, -1.2);
	71	}
	72
	73	EXPECT_NEAR(2.5, gmp.Value(), 1e-4);
	74	}
	75
	76	/////////////////////////////////////////////////
	77	TEST(GaussMarkovProcessTest, Noise)
	78	{
	79	// Start value of 20.2
	80	// Theta (rate at which the process should approach the mean) of 0.1
	81	// Mu (mean value) 0.
	82	// Sigma (volatility) of 0.5.
	83	GaussMarkovProcess gmp(20.2, 0.1, 0, 0.5);
	84	clock::duration dt = std::chrono::milliseconds(100);
	85	Rand::Seed(1001);
	86
	87	// This process should decrease toward the mean value of 0. With noise,
	88	// the process will walk.
	89	for (int i = 0; i < 1000; ++i)
	90	{
	91	double value = gmp.Update(dt);
	92	// Hand-tuned values that are repeatable given the seed set above.
	93	EXPECT_GT(value, -11);
	94	EXPECT_LT(value, 22);
	95	}
	96	// Hand-tuned values that are repeatable given the seed set above.
	97	#ifdef __APPLE__
	98	EXPECT_NEAR(-4.960893, gmp.Value(), 1e-4);
	99	#elif _MSC_VER
	100	EXPECT_NEAR(-4.960893, gmp.Value(), 1e-4);
	101	#else
	102	EXPECT_NEAR(-4.118732, gmp.Value(), 1e-4);
	103	#endif
	104	}

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src/GaussMarkovProcess_TEST.rb less more

	0	# Copyright (C) 2020 Open Source Robotics Foundation
	1	#
	2	# Licensed under the Apache License, Version 2.0 (the "License")
	3	# you may not use this file except in compliance with the License.
	4	# You may obtain a copy of the License at
	5	#
	6	# http://www.apache.org/licenses/LICENSE-2.0
	7	#
	8	# Unless required by applicable law or agreed to in writing, software
	9	# distributed under the License is distributed on an "AS IS" BASIS,
	10	# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	11	# See the License for the specific language governing permissions and
	12	# limitations under the License.
	13
	14	#!/usr/bin/env ruby
	15
	16	require 'test/unit/ui/console/testrunner'
	17	require 'test/unit'
	18	require 'math'
	19
	20	class GaussMarkovProcess_TEST < Test::Unit::TestCase
	21	def test_construction
	22	gmp = Ignition::Math::GaussMarkovProcess.new
	23
	24	assert(gmp.Start() == 0.0, "Start value should equal zero")
	25	assert(gmp.Value() == 0.0, "Initial value should equal zero")
	26	assert(gmp.Theta() == 0.0, "Theta should equal zero")
	27	assert(gmp.Mu() == 0.0, "Mu should equal zero")
	28	assert(gmp.Sigma() == 0.0, "Sigma should equal zero")
	29	end
	30
	31	def test_no_noise
	32	gmp = Ignition::Math::GaussMarkovProcess.new(-1.2, 1.0, 2.5, 0)
	33	assert(gmp.Start() == -1.2, "Start value should equal zero")
	34	assert(gmp.Value() == -1.2, "Initial value should equal zero")
	35	assert(gmp.Theta() == 1.0, "Theta should equal zero")
	36	assert(gmp.Mu() == 2.5, "Mu should equal zero")
	37	assert(gmp.Sigma() == 0.0, "Sigma should equal zero")
	38
	39	for i in 0..200 do
	40	value = gmp.Update(0.1);
	41	assert(value > -1.2, "Value should be greater than -1.2")
	42	end
	43
	44	assert(gmp.Value() >= 2.4999, "The final value should be near 2.5")
	45	assert(gmp.Value() <= 2.5, "The final value should be near 2.5")
	46	end
	47
	48	def test_noise
	49	gmp = Ignition::Math::GaussMarkovProcess.new(20.2, 0.1, 0, 0.5)
	50	assert(gmp.Start() == 20.2, "Start value should equal zero")
	51	assert(gmp.Value() == 20.2, "Initial value should equal zero")
	52	assert(gmp.Theta() == 0.1, "Theta should equal zero")
	53	assert(gmp.Mu() == 0, "Mu should equal zero")
	54	assert(gmp.Sigma() == 0.5, "Sigma should equal zero")
	55	Ignition::Math::Rand::Seed(1001);
	56
	57	for i in 0..1000 do
	58	value = gmp.Update(0.1);
	59	assert(value > -11, "Value should be greater than -10")
	60	assert(value < 22, "Value should be less than 25")
	61	end
	62	# Hand-tuned values that are repeatable given the seed set above.
	63	assert((gmp.Value() + 3.99148).abs <= 1e-4);
	64	end
	65
	66	end
	67
	68	exit Test::Unit::UI::Console::TestRunner.run(GaussMarkovProcess_TEST).passed? ? 0 : -1

+359

-2

src/Helpers_TEST.cc less more

101	101	{
102	102	EXPECT_DOUBLE_EQ(math::fixnan(1.0 / 0.0), 0.0);
103	103	EXPECT_DOUBLE_EQ(math::fixnan(-1.0 / 0.0), 0.0);
104		EXPECT_DOUBLE_EQ(math::fixnan(0.0 / 0.0), 0.0);
	104	EXPECT_DOUBLE_EQ(math::fixnan(1.0 / 0.0), 0.0);
105	105
106	106	EXPECT_DOUBLE_EQ(math::fixnan(42.0), 42.0);
107	107	EXPECT_DOUBLE_EQ(math::fixnan(-42.0), -42.0);
108	108
109	109	EXPECT_FLOAT_EQ(math::fixnan(1.0f / 0.0f), 0.0f);
110	110	EXPECT_FLOAT_EQ(math::fixnan(-1.0f / 0.0f), 0.0f);
111		EXPECT_FLOAT_EQ(math::fixnan(0.0f / 0.0f), 0.0f);
	111	EXPECT_FLOAT_EQ(math::fixnan(1.0f / 0.0f), 0.0f);
112	112
113	113	EXPECT_FLOAT_EQ(math::fixnan(42.0f), 42.0f);
114	114	EXPECT_FLOAT_EQ(math::fixnan(-42.0f), -42.0f);

518	518	}
519	519
520	520	/////////////////////////////////////////////////
	521	TEST(HelpersTest, timePointToSecNsec)
	522	{
	523	std::pair<int64_t, int64_t> parts = math::timePointToSecNsec(
	524	math::secNsecToTimePoint(0, 0));
	525	EXPECT_EQ(parts.first, 0);
	526	EXPECT_EQ(parts.second, 0);
	527
	528	std::chrono::steady_clock::time_point point;
	529	point += std::chrono::nanoseconds(1000);
	530	parts = math::timePointToSecNsec(point);
	531
	532	EXPECT_EQ(parts.first, 0);
	533	EXPECT_EQ(parts.second, 1000);
	534
	535	point = math::secNsecToTimePoint(0, 0);
	536	point += std::chrono::seconds(60);
	537	point += std::chrono::nanoseconds(57989);
	538	parts = math::timePointToSecNsec(point);
	539
	540	EXPECT_EQ(parts.first, 60);
	541	EXPECT_EQ(parts.second, 57989);
	542	}
	543
	544	/////////////////////////////////////////////////
	545	TEST(HelpersTest, secNsecToTimePoint)
	546	{
	547	using std::chrono::duration_cast;
	548	using std::chrono::nanoseconds;
	549	using std::chrono::steady_clock;
	550
	551	std::chrono::steady_clock::time_point point =
	552	math::secNsecToTimePoint(0, 0);
	553	point += std::chrono::hours(24);
	554
	555	std::chrono::steady_clock::time_point s =
	556	math::secNsecToTimePoint(246060, 0);
	557	EXPECT_EQ(s, point);
	558
	559	point = math::secNsecToTimePoint(0, 0);
	560	point += std::chrono::nanoseconds(1000);
	561	s = math::secNsecToTimePoint(0, 1000);
	562	EXPECT_EQ(s, point);
	563	}
	564
	565	/////////////////////////////////////////////////
	566	TEST(HelpersTest, timePointToString)
	567	{
	568	std::chrono::steady_clock::time_point time_clock =
	569	math::secNsecToTimePoint(0, 0);
	570	std::string s = math::timePointToString(time_clock);
	571
	572	EXPECT_STREQ(s.c_str(), std::string("00 00:00:00.000").c_str());
	573
	574	std::chrono::steady_clock::time_point point;
	575	point += std::chrono::hours(24);
	576
	577	s = math::timePointToString(point);
	578	EXPECT_STREQ(s.c_str(), std::string("01 00:00:00.000").c_str());
	579
	580	point = math::secNsecToTimePoint(0, 0);
	581	point += std::chrono::minutes(1);
	582	point += std::chrono::seconds(23);
	583	point += std::chrono::milliseconds(125);
	584	s = math::timePointToString(point);
	585	EXPECT_STREQ(s.c_str(), std::string("00 00:01:23.125").c_str());
	586	}
	587
	588	/////////////////////////////////////////////////
	589	TEST(HelpersTest, durationToString)
	590	{
	591	std::chrono::steady_clock::duration duration =
	592	std::chrono::steady_clock::duration::zero();
	593	std::string s = math::durationToString(duration);
	594
	595	EXPECT_STREQ(s.c_str(), std::string("00 00:00:00.000").c_str());
	596
	597	std::chrono::steady_clock::duration duration1 =
	598	std::chrono::steady_clock::duration::zero();
	599	duration1 += std::chrono::hours(24);
	600
	601	s = math::durationToString(duration1);
	602	EXPECT_STREQ(s.c_str(), std::string("01 00:00:00.000").c_str());
	603
	604	duration1 = std::chrono::steady_clock::duration::zero();;
	605	duration1 += std::chrono::minutes(1);
	606	duration1 += std::chrono::seconds(23);
	607	duration1 += std::chrono::milliseconds(125);
	608	s = math::durationToString(duration1);
	609	EXPECT_STREQ(s.c_str(), std::string("00 00:01:23.125").c_str());
	610	}
	611
	612	/////////////////////////////////////////////////
	613	TEST(HelpersTest, stringToDuration)
	614	{
	615	std::string time = "0 00:00:00.000";
	616	std::chrono::steady_clock::duration resultTime =
	617	math::stringToDuration(time);
	618	std::chrono::steady_clock::duration duration =
	619	std::chrono::steady_clock::duration::zero();
	620
	621	EXPECT_EQ(resultTime, duration);
	622
	623	time = "10 0";
	624	resultTime = math::stringToDuration(time);
	625	duration = std::chrono::steady_clock::duration::zero();
	626	duration += std::chrono::hours(10 * 24);
	627
	628	EXPECT_EQ(resultTime, duration);
	629
	630	time = "7";
	631	resultTime = math::stringToDuration(time);
	632	duration = std::chrono::steady_clock::duration::zero();
	633	duration += std::chrono::seconds(7);
	634
	635	EXPECT_EQ(resultTime, duration);
	636
	637	time = "7:10";
	638	resultTime = math::stringToDuration(time);
	639	duration = std::chrono::steady_clock::duration::zero();
	640	duration += std::chrono::minutes(7);
	641	duration += std::chrono::seconds(10);
	642
	643	EXPECT_EQ(resultTime, duration);
	644
	645	time = "17:10";
	646	resultTime = math::stringToDuration(time);
	647	duration = std::chrono::steady_clock::duration::zero();
	648	duration += std::chrono::minutes(17);
	649	duration += std::chrono::seconds(10);
	650
	651	EXPECT_EQ(resultTime, duration);
	652
	653	time = "7:10.4";
	654	resultTime = math::stringToDuration(time);
	655	duration = std::chrono::steady_clock::duration::zero();
	656	duration += std::chrono::minutes(7);
	657	duration += std::chrono::seconds(10);
	658	duration += std::chrono::milliseconds(400);
	659
	660	EXPECT_EQ(resultTime, duration);
	661
	662	time = "7:10.45";
	663	resultTime = math::stringToDuration(time);
	664	duration = std::chrono::steady_clock::duration::zero();
	665	duration += std::chrono::minutes(7);
	666	duration += std::chrono::seconds(10);
	667	duration += std::chrono::milliseconds(450);
	668
	669	EXPECT_EQ(resultTime, duration);
	670
	671	time = "7:10.456";
	672	resultTime = math::stringToDuration(time);
	673	duration = std::chrono::steady_clock::duration::zero();
	674	duration += std::chrono::minutes(7);
	675	duration += std::chrono::seconds(10);
	676	duration += std::chrono::milliseconds(456);
	677
	678	EXPECT_EQ(resultTime, duration);
	679
	680	time = "2 23:18:25.902";
	681	resultTime = math::stringToDuration(time);
	682	duration = std::chrono::steady_clock::duration::zero();
	683	duration += std::chrono::hours(2 * 24);
	684	duration += std::chrono::hours(23);
	685	duration += std::chrono::minutes(18);
	686	duration += std::chrono::seconds(25);
	687	duration += std::chrono::milliseconds(902);
	688
	689	EXPECT_EQ(resultTime, duration);
	690
	691	time = ".9";
	692	resultTime = math::stringToDuration(time);
	693	duration = std::chrono::steady_clock::duration::zero();
	694	duration += std::chrono::milliseconds(900);
	695
	696	EXPECT_EQ(resultTime, duration);
	697
	698	time = "bad time";
	699	resultTime = math::stringToDuration(time);
	700
	701	EXPECT_EQ(resultTime, std::chrono::steady_clock::duration::zero());
	702
	703	time = "";
	704	resultTime = math::stringToDuration(time);
	705
	706	EXPECT_EQ(resultTime, std::chrono::steady_clock::duration::zero());
	707
	708	time = "60";
	709	resultTime = math::stringToDuration(time);
	710
	711	EXPECT_EQ(resultTime, std::chrono::steady_clock::duration::zero());
	712
	713	time = "60:12";
	714	resultTime = math::stringToDuration(time);
	715
	716	EXPECT_EQ(resultTime, std::chrono::steady_clock::duration::zero());
	717
	718	time = "12:12.9999";
	719	resultTime = math::stringToDuration(time);
	720
	721	EXPECT_EQ(resultTime, std::chrono::steady_clock::duration::zero());
	722
	723	time = "25:12:12.99";
	724	resultTime = math::stringToDuration(time);
	725
	726	EXPECT_EQ(resultTime, std::chrono::steady_clock::duration::zero());
	727
	728	time = "999999999999999 5:12:12.5";
	729	resultTime = math::stringToDuration(time);
	730
	731	EXPECT_EQ(resultTime, std::chrono::steady_clock::duration::zero());
	732	}
	733
	734	/////////////////////////////////////////////////
	735	TEST(HelpersTest, secNsecToDuration)
	736	{
	737	std::chrono::steady_clock::duration point =
	738	std::chrono::steady_clock::duration::zero();
	739	point += std::chrono::hours(24);
	740
	741	std::chrono::steady_clock::duration s =
	742	math::secNsecToDuration(246060, 0);
	743	EXPECT_EQ(s, point);
	744
	745	point = std::chrono::steady_clock::duration::zero();
	746	point += std::chrono::nanoseconds(1000);
	747	s = math::secNsecToDuration(0, 1000);
	748	EXPECT_EQ(s, point);
	749	}
	750
	751	/////////////////////////////////////////////////
	752	TEST(HelpersTest, stringToTimePoint)
	753	{
	754	using namespace std::chrono_literals;
	755
	756	std::chrono::steady_clock::time_point zeroTime{0s};
	757	std::chrono::steady_clock::time_point negTime{-1s};
	758
	759	std::string time = "0 00:00:00.000";
	760	std::chrono::steady_clock::time_point resultTime =
	761	math::stringToTimePoint(time);
	762	std::chrono::steady_clock::time_point point = zeroTime;
	763
	764	EXPECT_EQ(resultTime, point);
	765
	766	time = "10 0";
	767	resultTime = math::stringToTimePoint(time);
	768	point = zeroTime;
	769	point += std::chrono::hours(10 * 24);
	770
	771	EXPECT_EQ(resultTime, point);
	772
	773	time = "7";
	774	resultTime = math::stringToTimePoint(time);
	775	point = zeroTime;
	776	point += std::chrono::seconds(7);
	777
	778	EXPECT_EQ(resultTime, point);
	779
	780	time = "7:10";
	781	resultTime = math::stringToTimePoint(time);
	782	point = zeroTime;
	783	point += std::chrono::minutes(7);
	784	point += std::chrono::seconds(10);
	785
	786	EXPECT_EQ(resultTime, point);
	787
	788	time = "17:10";
	789	resultTime = math::stringToTimePoint(time);
	790	point = zeroTime;
	791	point += std::chrono::minutes(17);
	792	point += std::chrono::seconds(10);
	793
	794	EXPECT_EQ(resultTime, point);
	795
	796	time = "7:10.4";
	797	resultTime = math::stringToTimePoint(time);
	798	point = zeroTime;
	799	point += std::chrono::minutes(7);
	800	point += std::chrono::seconds(10);
	801	point += std::chrono::milliseconds(400);
	802
	803	EXPECT_EQ(resultTime, point);
	804
	805	time = "7:10.45";
	806	resultTime = math::stringToTimePoint(time);
	807	point = zeroTime;
	808	point += std::chrono::minutes(7);
	809	point += std::chrono::seconds(10);
	810	point += std::chrono::milliseconds(450);
	811
	812	EXPECT_EQ(resultTime, point);
	813
	814	time = "7:10.456";
	815	resultTime = math::stringToTimePoint(time);
	816	point = zeroTime;
	817	point += std::chrono::minutes(7);
	818	point += std::chrono::seconds(10);
	819	point += std::chrono::milliseconds(456);
	820
	821	EXPECT_EQ(resultTime, point);
	822
	823	time = "2 23:18:25.902";
	824	resultTime = math::stringToTimePoint(time);
	825	point = zeroTime;
	826	point += std::chrono::hours(2 * 24);
	827	point += std::chrono::hours(23);
	828	point += std::chrono::minutes(18);
	829	point += std::chrono::seconds(25);
	830	point += std::chrono::milliseconds(902);
	831
	832	EXPECT_EQ(resultTime, point);
	833
	834	time = ".9";
	835	resultTime = math::stringToTimePoint(time);
	836	point = zeroTime;
	837	point += std::chrono::milliseconds(900);
	838
	839	EXPECT_EQ(resultTime, point);
	840
	841	time = "bad time";
	842	resultTime = math::stringToTimePoint(time);
	843
	844	EXPECT_EQ(resultTime, negTime);
	845
	846	time = "";
	847	resultTime = math::stringToTimePoint(time);
	848
	849	EXPECT_EQ(resultTime, negTime);
	850
	851	time = "60";
	852	resultTime = math::stringToTimePoint(time);
	853
	854	EXPECT_EQ(resultTime, negTime);
	855
	856	time = "60:12";
	857	resultTime = math::stringToTimePoint(time);
	858
	859	EXPECT_EQ(resultTime, negTime);
	860
	861	time = "12:12.9999";
	862	resultTime = math::stringToTimePoint(time);
	863
	864	EXPECT_EQ(resultTime, negTime);
	865
	866	time = "25:12:12.99";
	867	resultTime = math::stringToTimePoint(time);
	868
	869	EXPECT_EQ(resultTime, negTime);
	870
	871	time = "999999999999999 5:12:12.5";
	872	resultTime = math::stringToTimePoint(time);
	873
	874	EXPECT_EQ(resultTime, negTime);
	875	}
	876
	877	/////////////////////////////////////////////////
521	878	TEST(HelpersTest, durationToSecNsec)
522	879	{
523	880	std::pair<int64_t, int64_t> parts;

+64

-0

src/Inertial_TEST.cc less more

475	475	EXPECT_TRUE(trueCubeMM3.SetFromBox(8mass, 2size));
476	476	EXPECT_EQ(addedCube, math::Inertiald(trueCubeMM3, math::Pose3d::Zero));
477	477	}
	478
	479	// Add two cubes with diagonal corners touching at one point
	480	// ┌---------┐
	481	// \| \|
	482	// \| \|
	483	// \| \|
	484	// \| \|
	485	// ┌---------+---------┘
	486	// \| \|
	487	// \| \|
	488	// \| \|
	489	// \| \|
	490	// └---------┘
	491	{
	492	// properties of each cube to be added
	493	// side length: 1
	494	// mass: 6
	495	// diagonal moment of inertia values: 1
	496	// off-diagonal moment of inertia values: 0
	497	const double mass = 6.0;
	498	const math::Vector3d size(1, 1, 1);
	499	math::MassMatrix3d cubeMM3;
	500	EXPECT_TRUE(cubeMM3.SetFromBox(mass, size));
	501	EXPECT_EQ(
	502	ignition::math::Vector3d::One,
	503	cubeMM3.DiagonalMoments());
	504	EXPECT_EQ(
	505	ignition::math::Vector3d::Zero,
	506	cubeMM3.OffDiagonalMoments());
	507
	508	const math::Inertiald diagonalCubes =
	509	math::Inertiald(cubeMM3, math::Pose3d(-0.5, -0.5, -0.5, 0, 0, 0)) +
	510	math::Inertiald(cubeMM3, math::Pose3d(0.5, 0.5, 0.5, 0, 0, 0));
	511
	512	// lumped mass = 6 + 6 = 12
	513	// lumped center of mass at (0, 0, 0)
	514	// lumped Moment of inertia:
	515	// for each cube
	516	// [ 1 0 0 ] [ 0.5^2 + 0.5^2 -0.50.5 -0.50.5 ]
	517	// [ 0 1 0 ] + 6 * [ -0.50.5 0.5^2 + 0.5^2 -0.50.5 ]
	518	// [ 0 0 1 ] [ -0.50.5 -0.50.5 0.5^2 + 0.5^2 ]
	519	//
	520	// [ 1 0 0 ] [ 0.5 -0.25 -0.25 ]
	521	// [ 0 1 0 ] + 6 * [ -0.25 0.5 -0.25 ]
	522	// [ 0 0 1 ] [ -0.25 -0.25 0.5 ]
	523	//
	524	// [ 1 0 0 ] [ 3.0 -1.5 -1.5 ]
	525	// [ 0 1 0 ] + [ -1.5 3.0 -1.5 ]
	526	// [ 0 0 1 ] [ -1.5 -1.5 3.0 ]
	527	//
	528	// [ 4.0 -1.5 -1.5 ]
	529	// [ -1.5 4.0 -1.5 ]
	530	// [ -1.5 -1.5 4.0 ]
	531	//
	532	// then double it to account for both cubes
	533	EXPECT_EQ(ignition::math::Pose3d::Zero, diagonalCubes.Pose());
	534	EXPECT_DOUBLE_EQ(mass * 2.0, diagonalCubes.MassMatrix().Mass());
	535	EXPECT_EQ(
	536	ignition::math::Vector3d(8, 8, 8),
	537	diagonalCubes.MassMatrix().DiagonalMoments());
	538	EXPECT_EQ(
	539	ignition::math::Vector3d(-3, -3, -3),
	540	diagonalCubes.MassMatrix().OffDiagonalMoments());
	541	}
478	542	}
479	543
480	544	/////////////////////////////////////////////////

+4

-2

src/Kmeans.cc less more

14	14	*
15	15	*/
16	16
	17	#include <ignition/math/Kmeans.hh>
	18
17	19	#include <iostream>
18		#include <ignition/math/Kmeans.hh>
	20
19	21	#include <ignition/math/Rand.hh>
20	22	#include "KmeansPrivate.hh"
21	23

146	148	this->dataPtr->sums[i] / this->dataPtr->counters[i];
147	149	}
148	150	}
149		while (changed > (this->dataPtr->obs.size() >> 10));
	151	while (changed > (this->dataPtr->obs.size() >> 10)); // NOLINT
150	152
151	153	_centroids = this->dataPtr->centroids;
152	154	_labels = this->dataPtr->labels;

+77

-2

src/Pose_TEST.cc less more

20	20	#include "ignition/math/Pose3.hh"
21	21
22	22	using namespace ignition;
	23
	24	/////////////////////////////////////////////////
	25	TEST(PoseTest, Construction)
	26	{
	27	math::Pose3d pose(1, 0, 0, 0, 0, 0);
	28
	29	// Copy constructor
	30	math::Pose3d pose2(pose);
	31	EXPECT_EQ(pose2, pose);
	32
	33	// Copy operator
	34	math::Pose3d pose3;
	35	pose3 = pose;
	36	EXPECT_EQ(pose3, pose);
	37
	38	// Move constructor
	39	math::Pose3d pose4(std::move(pose));
	40	EXPECT_EQ(pose4, pose2);
	41	pose = pose4;
	42	EXPECT_EQ(pose, pose2);
	43
	44	// Move operator
	45	math::Pose3d pose5;
	46	pose5 = std::move(pose2);
	47	EXPECT_EQ(pose5, pose3);
	48	pose2 = pose5;
	49	EXPECT_EQ(pose2, pose3);
	50
	51	// Inequality
	52	math::Pose3d pose6;
	53	EXPECT_NE(pose6, pose3);
	54	}
23	55
24	56	/////////////////////////////////////////////////
25	57	TEST(PoseTest, Pose)

139	171	/////////////////////////////////////////////////
140	172	TEST(PoseTest, ConstPose)
141	173	{
142		const math::Pose3d pose(0, 1, 2, 0, 0, 0);
	174	const math::Pose3d pose(0, 1, 2, 1, 0, 0);
143	175
144	176	EXPECT_TRUE(pose.Pos() == math::Vector3d(0, 1, 2));
145		EXPECT_TRUE(pose.Rot() == math::Quaterniond(0, 0, 0));
	177	EXPECT_TRUE(pose.Rot() == math::Quaterniond(1, 0, 0));
146	178	}
147	179
148	180	/////////////////////////////////////////////////

154	186	EXPECT_EQ(stream.str(), "0.1 1.2 2.3 0 0.1 1");
155	187	}
156	188
	189	/////////////////////////////////////////////////
	190	TEST(PoseTest, MutablePose)
	191	{
	192	math::Pose3d pose(0, 1, 2, 0, 0, 0);
	193
	194	EXPECT_TRUE(pose.Pos() == math::Vector3d(0, 1, 2));
	195	EXPECT_TRUE(pose.Rot() == math::Quaterniond(0, 0, 0));
	196
	197	pose.Pos() = math::Vector3d(10, 20, 30);
	198	pose.Rot() = math::Quaterniond(1, 2, 1);
	199
	200	EXPECT_TRUE(pose.Pos() == math::Vector3d(10, 20, 30));
	201	EXPECT_TRUE(pose.Rot() == math::Quaterniond(1, 2, 1));
	202	}
	203
	204	/////////////////////////////////////////////////
	205	TEST(PoseTest, ConstPoseElements)
	206	{
	207	const math::Pose3d pose(0, 1, 2, 1, 1, 2);
	208	EXPECT_DOUBLE_EQ(pose.X(), 0);
	209	EXPECT_DOUBLE_EQ(pose.Y(), 1);
	210	EXPECT_DOUBLE_EQ(pose.Z(), 2);
	211	EXPECT_DOUBLE_EQ(pose.Roll(), 1);
	212	EXPECT_DOUBLE_EQ(pose.Pitch(), 1);
	213	EXPECT_DOUBLE_EQ(pose.Yaw(), 2);
	214	}
	215
	216	/////////////////////////////////////////////////
	217	TEST(PoseTest, SetPoseElements)
	218	{
	219	math::Pose3d pose(1, 2, 3, 1.57, 1, 2);
	220	EXPECT_DOUBLE_EQ(pose.X(), 1);
	221	EXPECT_DOUBLE_EQ(pose.Y(), 2);
	222	EXPECT_DOUBLE_EQ(pose.Z(), 3);
	223
	224	pose.SetX(10);
	225	pose.SetY(12);
	226	pose.SetZ(13);
	227
	228	EXPECT_DOUBLE_EQ(pose.X(), 10);
	229	EXPECT_DOUBLE_EQ(pose.Y(), 12);
	230	EXPECT_DOUBLE_EQ(pose.Z(), 13);
	231	}

+97

-18

src/Quaternion_TEST.cc less more

26	26	using namespace ignition;
27	27
28	28	/////////////////////////////////////////////////
	29	TEST(QuaternionTest, Construction)
	30	{
	31	math::Quaterniond q(0, 0, 0, 1);
	32
	33	// Copy constructor
	34	math::Quaterniond q2(q);
	35	EXPECT_EQ(q2, q);
	36
	37	// Copy operator
	38	math::Quaterniond q3;
	39	q3 = q;
	40	EXPECT_EQ(q3, q);
	41
	42	// Move constructor
	43	math::Quaterniond q4(std::move(q));
	44	EXPECT_EQ(q4, q2);
	45	q = q4;
	46	EXPECT_EQ(q, q2);
	47
	48	// Move operator
	49	math::Quaterniond q5;
	50	q5 = std::move(q2);
	51	EXPECT_EQ(q5, q3);
	52	q2 = q5;
	53	EXPECT_EQ(q2, q3);
	54
	55	// Inequality
	56	math::Quaterniond q6;
	57	EXPECT_NE(q6, q3);
	58	}
	59
	60	/////////////////////////////////////////////////
29	61	TEST(QuaternionTest, Unit)
30	62	{
31	63	math::Quaterniond q;

211	243	}
212	244
213	245	/////////////////////////////////////////////////
214		TEST(QuaternionTest, Math)
	246	TEST(QuaternionTest, MathLog)
215	247	{
216	248	math::Quaterniond q(IGN_PI0.1, IGN_PI0.5, IGN_PI);
217		EXPECT_TRUE(q == math::Quaterniond(0.110616, -0.698401, 0.110616, 0.698401));
218
219		EXPECT_TRUE(q.Log() ==
220		math::Quaterniond(0, -1.02593, 0.162491, 1.02593));
221
222		EXPECT_TRUE(q.Exp() ==
223		math::Quaterniond(0.545456, -0.588972, 0.093284, 0.588972));
	249
	250	EXPECT_EQ(q.Log(), math::Quaterniond(0, -1.02593, 0.162491, 1.02593));
224	251
225	252	math::Quaterniond q1 = q;
226	253	q1.W(2.0);
227		EXPECT_TRUE(q1.Log() ==
228		math::Quaterniond(0, -0.698401, 0.110616, 0.698401));
229
	254	EXPECT_EQ(q1.Log(), math::Quaterniond(0, -0.698401, 0.110616, 0.698401));
	255	}
	256
	257	/////////////////////////////////////////////////
	258	TEST(QuaternionTest, MathExp)
	259	{
	260	math::Quaterniond q(IGN_PI0.1, IGN_PI0.5, IGN_PI);
	261
	262	EXPECT_EQ(q.Exp(),
	263	math::Quaterniond(0.545456, -0.588972, 0.093284, 0.588972));
	264
	265	math::Quaterniond q1 = q;
230	266	q1.X(0.000000001);
231	267	q1.Y(0.0);
232	268	q1.Z(0.0);
233	269	q1.W(0.0);
234		EXPECT_TRUE(q1.Exp() == math::Quaterniond(1, 0, 0, 0));
	270	EXPECT_EQ(q1.Exp(), math::Quaterniond(1, 0, 0, 0));
	271	}
	272
	273	/////////////////////////////////////////////////
	274	TEST(QuaternionTest, MathInvert)
	275	{
	276	math::Quaterniond q(IGN_PI0.1, IGN_PI0.5, IGN_PI);
235	277
236	278	q.Invert();
237		EXPECT_TRUE(q == math::Quaterniond(0.110616, 0.698401, -0.110616, -0.698401));
	279	EXPECT_EQ(q, math::Quaterniond(0.110616, 0.698401, -0.110616, -0.698401));
	280	}
	281
	282	/////////////////////////////////////////////////
	283	TEST(QuaternionTest, MathAxis)
	284	{
	285	math::Quaterniond q(IGN_PI0.1, IGN_PI0.5, IGN_PI);
238	286
239	287	q.Axis(0, 1, 0, IGN_PI);
240		EXPECT_TRUE(q == math::Quaterniond(6.12303e-17, 0, 1, 0));
	288	EXPECT_EQ(q, math::Quaterniond(6.12303e-17, 0, 1, 0));
241	289
242	290	q.Axis(math::Vector3d(1, 0, 0), IGN_PI);
243		EXPECT_TRUE(q == math::Quaterniond(0, 1, 0, 0));
	291	EXPECT_EQ(q, math::Quaterniond(0, 1, 0, 0));
	292	}
	293
	294	/////////////////////////////////////////////////
	295	TEST(QuaternionTest, MathSet)
	296	{
	297	math::Quaterniond q(IGN_PI0.1, IGN_PI0.5, IGN_PI);
244	298
245	299	q.Set(1, 2, 3, 4);
246	300	EXPECT_TRUE(math::equal(q.W(), 1.0));
247	301	EXPECT_TRUE(math::equal(q.X(), 2.0));
248	302	EXPECT_TRUE(math::equal(q.Y(), 3.0));
249	303	EXPECT_TRUE(math::equal(q.Z(), 4.0));
	304	}
	305
	306	/////////////////////////////////////////////////
	307	TEST(QuaternionTest, MathNormalized)
	308	{
	309	math::Quaterniond q(1, 2, 3, 4);
	310
	311	math::Quaterniond q2 = q.Normalized();
	312	EXPECT_EQ(q2, math::Quaterniond(0.182574, 0.365148, 0.547723, 0.730297));
	313	}
	314
	315	/////////////////////////////////////////////////
	316	TEST(QuaternionTest, MathNormalize)
	317	{
	318	math::Quaterniond q(1, 2, 3, 4);
250	319
251	320	q.Normalize();
252		EXPECT_TRUE(q == math::Quaterniond(0.182574, 0.365148, 0.547723, 0.730297));
253
	321	EXPECT_EQ(q, math::Quaterniond(0.182574, 0.365148, 0.547723, 0.730297));
	322	}
	323
	324	/////////////////////////////////////////////////
	325	TEST(QuaternionTest, Math)
	326	{
	327	math::Quaterniond q(IGN_PI0.1, IGN_PI0.5, IGN_PI);
	328	EXPECT_TRUE(q == math::Quaterniond(0.110616, -0.698401, 0.110616, 0.698401));
	329
	330	q.Set(1, 2, 3, 4);
	331
	332	q.Normalize();
254	333
255	334	EXPECT_TRUE(math::equal(q.Roll(), 1.4289, 1e-3));
256	335	EXPECT_TRUE(math::equal(q.Pitch(), -0.339837, 1e-3));

511	590	}
512	591
513	592	/////////////////////////////////////////////////
514		TEST(QuaterniondTest, From2Axes)
	593	TEST(QuaternionTest, From2Axes)
515	594	{
516	595	math::Vector3d v1(1.0, 0.0, 0.0);
517	596	math::Vector3d v2(0.0, 1.0, 0.0);

+37

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src/Rand.i less more

	0	/*
	1	* Copyright (C) 2020 Open Source Robotics Foundation
	2	*
	3	* Licensed under the Apache License, Version 2.0 (the "License");
	4	* you may not use this file except in compliance with the License.
	5	* You may obtain a copy of the License at
	6	*
	7	* http://www.apache.org/licenses/LICENSE-2.0
	8	*
	9	* Unless required by applicable law or agreed to in writing, software
	10	* distributed under the License is distributed on an "AS IS" BASIS,
	11	* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	12	* See the License for the specific language governing permissions and
	13	* limitations under the License.
	14	*
	15	*/
	16
	17	%module rand
	18	%{
	19	#include <ignition/math/Rand.hh>
	20	%}
	21
	22	namespace ignition
	23	{
	24	namespace math
	25	{
	26	class Rand
	27	{
	28	public: static void Seed(unsigned int _seed);
	29	public: static unsigned int Seed();
	30	public: static double DblUniform(double _min, double _max);
	31	public: static double DblNormal(double _mean, double _sigma);
	32	public: static int IntUniform(int _min, int _max);
	33	public: static int IntNormal(int _mean, int _sigma);
	34	};
	35	}
	36	}

+36

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src/Rand_TEST.rb less more

	0	# Copyright (C) 2020 Open Source Robotics Foundation
	1	#
	2	# Licensed under the Apache License, Version 2.0 (the "License")
	3	# you may not use this file except in compliance with the License.
	4	# You may obtain a copy of the License at
	5	#
	6	# http://www.apache.org/licenses/LICENSE-2.0
	7	#
	8	# Unless required by applicable law or agreed to in writing, software
	9	# distributed under the License is distributed on an "AS IS" BASIS,
	10	# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	11	# See the License for the specific language governing permissions and
	12	# limitations under the License.
	13
	14	#!/usr/bin/env ruby
	15
	16	require 'test/unit/ui/console/testrunner'
	17	require 'test/unit'
	18	require 'math'
	19
	20	class Rand_TEST < Test::Unit::TestCase
	21	def test_rand
	22	d = Ignition::Math::Rand::DblUniform(1, 2)
	23	assert(d >= 1 && d <= 2, "The value should be 1 <= d <= 2")
	24
	25	i = Ignition::Math::Rand::IntUniform(1, 2)
	26	assert(i >= 1 && i <= 2, "The value should be 1 <= i <= 2")
	27
	28	Ignition::Math::Rand::Seed(1001)
	29
	30	i = Ignition::Math::Rand::IntNormal(10, 5)
	31	assert(i == 11, "The value should be 11")
	32	end
	33	end
	34
	35	exit Test::Unit::UI::Console::TestRunner.run(Rand_TEST).passed? ? 0 : -1

+1

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src/RollingMean.cc less more

15	15	*/
16	16
17	17	#include <numeric>
	18	#include <limits>
18	19	#include <deque>
19	20	#include "ignition/math/RollingMean.hh"
20	21

+0

-1

src/RotationSpline_TEST.cc less more

93	93	EXPECT_EQ(s.Interpolate(0, 0.5),
94	94	math::Quaterniond(0.987225, 0.077057, 0.11624, 0.077057));
95	95
96		math::Quaterniond q = s.Interpolate(1, 0.5);
97	96	EXPECT_EQ(s.Interpolate(1, 0.5),
98	97	math::Quaterniond(0.987225, 0.077057, 0.11624, 0.077057));
99	98	}

+1

-1

src/SplinePrivate.hh less more

66	66	{
67	67	// Workaround to compare the two vector of vectors in MSVC 2013
68	68	// and MSVC 2015. See
69		// https://bitbucket.org/ignitionrobotics/ign-math/issues/70
	69	// https://github.com/ignitionrobotics/ign-math/issues/70
70	70	if (this->derivatives.size() != _other.derivatives.size())
71	71	return false;
72	72

+7

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src/Vector2.i less more

45	45	public: void Normalize();
46	46	public: void Set(T _x, T _y);
47	47	public: T Dot(const Vector2<T> &_v) const;
	48	public: Vector2 Abs() const;
	49	public: T AbsDot(const Vector2<T> &_v) const;
	50	public: inline void Correct();
	51	public: void Max(const Vector2<T> &_v);
	52	public: void Min(const Vector2<T> &_v);
	53	public: T Max() const;
	54	public: T Min() const;
48	55	public: Vector2 operator+(const Vector2 &_v) const;
49	56	public: inline Vector2<T> operator+(const T _s) const;
50	57	public: inline Vector2 operator-() const;

+140

-4

src/Vector2_TEST.cc less more

23	23	using namespace ignition;
24	24
25	25	/////////////////////////////////////////////////
	26	TEST(Vector2Test, Construction)
	27	{
	28	math::Vector2d vec(1, 0);
	29
	30	// Copy constructor
	31	math::Vector2d vec2(vec);
	32	EXPECT_EQ(vec2, vec);
	33
	34	// Copy operator
	35	math::Vector2d vec3;
	36	vec3 = vec;
	37	EXPECT_EQ(vec3, vec);
	38
	39	// Move constructor
	40	math::Vector2d vec4(std::move(vec));
	41	EXPECT_EQ(vec4, vec2);
	42	vec = vec4;
	43	EXPECT_EQ(vec, vec2);
	44
	45	// Move operator
	46	math::Vector2d vec5;
	47	vec5 = std::move(vec2);
	48	EXPECT_EQ(vec5, vec3);
	49	vec2 = vec5;
	50	EXPECT_EQ(vec2, vec3);
	51
	52	// Inequality
	53	math::Vector2d vec6;
	54	EXPECT_NE(vec6, vec3);
	55	}
	56
	57	/////////////////////////////////////////////////
26	58	TEST(Vector2Test, Vector2)
27	59	{
28	60	{

43	75	v.Normalize();
44	76	EXPECT_TRUE(v == math::Vector2d(0.447214, 0.894427));
45	77
	78	// ::Rounded
	79	v.Set(3.55, 8.49);
	80	EXPECT_TRUE(v.Rounded() == math::Vector2d(4, 8));
	81
	82	// ::Round
	83	v.Round();
	84	EXPECT_TRUE(v == math::Vector2d(4, 8));
	85
46	86	// ::Set
47	87	v.Set(4, 5);
48	88	EXPECT_TRUE(v == math::Vector2d(4, 5));
	89
	90	// operator GetAbs
	91	v.Set(-1, -2);
	92	EXPECT_TRUE(v.Abs() == math::Vector2d(1, 2));
49	93
50	94	// ::operator=
51	95	v = math::Vector2d(6, 7);

111	155	v.Set(10, 6);
112	156	v *= math::Vector2d(2, 4);
113	157	EXPECT_TRUE(v == math::Vector2d(20, 24));
114
115	158
116	159	// ::IsFinite
117	160	EXPECT_TRUE(v.IsFinite());

124	167	}
125	168
126	169	/////////////////////////////////////////////////
	170	TEST(Vector2Test, TestSum)
	171	{
	172	math::Vector2 vec1(0, 0);
	173	math::Vector2 vec2(1.0, 2.5);
	174	math::Vector2 vec3(-2, -4);
	175
	176	int sum1 = vec1.Sum();
	177	float sum2 = vec2.Sum();
	178	int sum3 = vec3.Sum();
	179
	180	EXPECT_EQ(sum1, 0);
	181	EXPECT_FLOAT_EQ(sum2, 3.5);
	182	EXPECT_EQ(sum3, -6);
	183	}
	184
	185	/////////////////////////////////////////////////
	186	TEST(Vector2Test, TestNormalized)
	187	{
	188	math::Vector2d vec1(0, 0);
	189	math::Vector2d vec2(1, 2);
	190
	191	math::Vector2d vec3 = vec1.Normalized();
	192
	193	// O zero vector should be equal to the normalized vector
	194	EXPECT_EQ(vec1, vec3);
	195	EXPECT_NE(vec2, vec3);
	196
	197	vec3 = vec2.Normalized();
	198	EXPECT_EQ(vec3, math::Vector2d(0.447213, 0.894427));
	199	}
	200
	201	/////////////////////////////////////////////////
	202	TEST(Vector2Test, Max)
	203	{
	204	math::Vector2d vec1(0.1, 0.2);
	205	math::Vector2d vec2(0.3, 0.5);
	206	math::Vector2d vec3(0.4, 0.2);
	207
	208	EXPECT_DOUBLE_EQ(vec1.Max(), 0.2);
	209	EXPECT_DOUBLE_EQ(vec3.Max(), 0.4);
	210
	211	vec1.Max(vec2);
	212	EXPECT_EQ(vec1, math::Vector2d(0.3, 0.5));
	213
	214	vec1.Max(vec3);
	215	EXPECT_EQ(vec1, math::Vector2d(0.4, 0.5));
	216	}
	217
	218	/////////////////////////////////////////////////
	219	TEST(Vector2Test, Min)
	220	{
	221	math::Vector2d vec1(0.3, 0.5);
	222	math::Vector2d vec2(0.1, 0.2);
	223	math::Vector2d vec3(0.05, 0.1);
	224
	225	EXPECT_DOUBLE_EQ(vec1.Min(), 0.3);
	226	EXPECT_DOUBLE_EQ(vec3.Min(), 0.05);
	227
	228	vec1.Min(vec2);
	229	EXPECT_EQ(vec1, math::Vector2d(0.1, 0.2));
	230
	231	vec1.Min(vec3);
	232	EXPECT_EQ(vec1, math::Vector2d(0.05, 0.1));
	233	}
	234
	235	/////////////////////////////////////////////////
127	236	TEST(Vector2Test, NoException)
128	237	{
129	238	math::Vector2d v(1, 2);

156	265	EXPECT_DOUBLE_EQ(v.Dot(math::Vector2d(0, 1)), 2.0);
157	266	}
158	267
	268	//////////////////////////////////////////////
	269	TEST(Vector2Test, Correct)
	270	{
	271	math::Vector2d vec1(0, NAN);
	272	math::Vector2d vec2(INFINITY, -1);
	273	math::Vector2d vec3(10, -2);
	274
	275	vec1.Correct();
	276	vec2.Correct();
	277	vec3.Correct();
	278
	279	EXPECT_EQ(vec1, math::Vector2d(0, 0));
	280	EXPECT_EQ(vec2, math::Vector2d(0, -1));
	281	EXPECT_EQ(vec3, math::Vector2d(10, -2));
	282	}
	283
	284	/////////////////////////////////////////////////
	285	TEST(Vector2Test, AbsDot)
	286	{
	287	math::Vector2d v(1, -2);
	288
	289	EXPECT_DOUBLE_EQ(v.AbsDot(math::Vector2d(3, 4)), 11.0);
	290	EXPECT_DOUBLE_EQ(v.AbsDot(math::Vector2d(0, 0)), 0.0);
	291	EXPECT_DOUBLE_EQ(v.AbsDot(math::Vector2d(1, 0)), 1.0);
	292	EXPECT_DOUBLE_EQ(v.AbsDot(math::Vector2d(0, 1)), 2.0);
	293	}
	294
159	295	/////////////////////////////////////////////////
160	296	TEST(Vector2Test, OperatorStreamOut)
161	297	{

166	302	}
167	303
168	304	/////////////////////////////////////////////////
169		TEST(Vector2dTest, Add)
	305	TEST(Vector2Test, Add)
170	306	{
171	307	math::Vector2d vec1(0.1, 0.2);
172	308	math::Vector2d vec2(1.1, 2.2);

207	343	}
208	344
209	345	/////////////////////////////////////////////////
210		TEST(Vector2dTest, Sub)
	346	TEST(Vector2Test, Sub)
211	347	{
212	348	math::Vector2d vec1(0.1, 0.2);
213	349	math::Vector2d vec2(1.1, 2.2);

285	421	}
286	422
287	423	/////////////////////////////////////////////////
288		TEST(Vector2dTest, Length)
	424	TEST(Vector2Test, Length)
289	425	{
290	426	// Zero vector
291	427	EXPECT_DOUBLE_EQ(math::Vector2d::Zero.Length(), 0.0);

+34

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src/Vector2_TEST.rb less more

107	107	"Zero should equal 1 with 1.1 tolerance")
108	108	end
109	109
	110	def test_max
	111	vec1 = Ignition::Math::Vector2d.new(0.1, 0.2)
	112	vec2 = Ignition::Math::Vector2d.new(0.3, 0.5)
	113	vec3 = Ignition::Math::Vector2d.new(0.4, 0.2)
	114
	115	assert((vec1.Max() - 0.2).abs() < 1e-10,
	116	"Vector2 vec1.Max should equal 0.2")
	117
	118	vec1.Max(vec2)
	119	assert(vec1 == Ignition::Math::Vector2d.new(0.3, 0.5),
	120	"Vector2 vec1 should equal [0.3, 0.5]")
	121
	122	vec1.Max(vec3)
	123	assert(vec1 == Ignition::Math::Vector2d.new(0.4, 0.5),
	124	"Vector2 vec1 should equal [0.4, 0.5]")
	125	end
	126
	127	def test_min
	128	vec1 = Ignition::Math::Vector2d.new(0.3, 0.5)
	129	vec2 = Ignition::Math::Vector2d.new(0.1, 0.2)
	130	vec3 = Ignition::Math::Vector2d.new(0.05, 0.1)
	131
	132	assert((vec1.Min() - 0.3).abs() < 1e-10,
	133	"Vector2 vec1.Min should equal 0.3")
	134
	135	vec1.Min(vec2)
	136	assert(vec1 == Ignition::Math::Vector2d.new(0.1, 0.2),
	137	"Vector2 vec1 should equal [0.1, 0.2]")
	138
	139	vec3.Max(vec2)
	140	assert(vec3 == Ignition::Math::Vector2d.new(0.1, 0.2),
	141	"Vector2 vec3 should equal [0.1, 0.2]")
	142	end
	143
110	144	def test_dot
111	145	v = Ignition::Math::Vector2d.new(1, 2)
112	146

+43

-4

src/Vector3_TEST.cc less more

16	16
17	17	#include <gtest/gtest.h>
18	18
	19	#include <numeric>
	20	#include <sstream>
	21
19	22	#include "ignition/math/Vector3.hh"
20	23	#include "ignition/math/Helpers.hh"
21	24
22	25	using namespace ignition;
23	26
24	27	/////////////////////////////////////////////////
25		TEST(Vector3Test, Vector3d)
	28	TEST(Vector3dTest, Construction)
	29	{
	30	math::Vector3d vec(1, 0, 0);
	31
	32	// Copy constructor
	33	math::Vector3d vec2(vec);
	34	EXPECT_EQ(vec2, vec);
	35
	36	// Copy operator
	37	math::Vector3d vec3;
	38	vec3 = vec;
	39	EXPECT_EQ(vec3, vec);
	40
	41	// Move constructor
	42	math::Vector3d vec4(std::move(vec));
	43	EXPECT_EQ(vec4, vec2);
	44	vec = vec4;
	45	EXPECT_EQ(vec, vec2);
	46
	47	// Move operator
	48	math::Vector3d vec5;
	49	vec5 = std::move(vec2);
	50	EXPECT_EQ(vec5, vec3);
	51	vec2 = vec5;
	52	EXPECT_EQ(vec2, vec3);
	53
	54	// Inequality
	55	math::Vector3d vec6;
	56	EXPECT_NE(vec6, vec3);
	57	}
	58
	59	/////////////////////////////////////////////////
	60	TEST(Vector3dTest, Vector3d)
26	61	{
27	62	math::Vector3d v;
28	63

386	421
387	422	/////////////////////////////////////////////////
388	423	// Test Equal function with specified tolerance
389		TEST(Vector2Test, EqualTolerance)
	424	TEST(Vector3dTest, EqualTolerance)
390	425	{
391	426	EXPECT_FALSE(math::Vector3d::Zero.Equal(math::Vector3d::One, 1e-6));
392	427	EXPECT_FALSE(math::Vector3d::Zero.Equal(math::Vector3d::One, 1e-3));

413	448
414	449	EXPECT_NO_THROW(math::equal(v[3], 4.0));
415	450	EXPECT_DOUBLE_EQ(v[3], 3.0);
416		}
417
	451
	452	std::ostringstream ss;
	453	math::Vector3d vInf(0, 0, std::numeric_limits<double>::infinity());
	454	EXPECT_NO_THROW(ss << vInf);
	455	}
	456

+73

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src/Vector4.i less more

	0	/*
	1	* Copyright (C) 2016 Open Source Robotics Foundation
	2	*
	3	* Licensed under the Apache License, Version 2.0 (the "License");
	4	* you may not use this file except in compliance with the License.
	5	* You may obtain a copy of the License at
	6	*
	7	* http://www.apache.org/licenses/LICENSE-2.0
	8	*
	9	* Unless required by applicable law or agreed to in writing, software
	10	* distributed under the License is distributed on an "AS IS" BASIS,
	11	* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	12	* See the License for the specific language governing permissions and
	13	* limitations under the License.
	14	*
	15	*/
	16
	17	#ifdef SWIGRUBY
	18	%begin %{
	19	#define HAVE_ISFINITE 1
	20	%}
	21	#endif
	22
	23	%module vector4
	24	%{
	25	#include <ignition/math/Vector4.hh>
	26	%}
	27
	28	namespace ignition
	29	{
	30	namespace math
	31	{
	32	template<typename T>
	33	class Vector4
	34	{
	35	public: static const Vector4 Zero;
	36	public: static const Vector4 One;
	37	public: Vector4();
	38	public: Vector4(const T &_x, const T &_y, const T &_z, const T &_w);
	39	public: Vector4(const Vector4<T> &_v);
	40	public: virtual ~Vector4();
	41	public: T Distance(const Vector4<T> &_pt) const;
	42	public: T Length() const;
	43	public: T SquaredLength() const;
	44	public: void Normalize();
	45	public: inline void Set(T _x = 0, T _y = 0, T _z = 0, T _w = 0);
	46	public: Vector4 operator+(const Vector4<T> &_v) const;
	47	public: inline Vector4<T> operator+(const T _s) const;
	48	public: inline Vector4 operator-() const;
	49	public: inline Vector4<T> operator-(const Vector4<T> &_pt) const;
	50	public: inline Vector4<T> operator-(const T _s) const;
	51	public: const Vector4<T> operator/(const Vector4<T> &_pt) const;
	52	public: const Vector4<T> operator/(T _v) const;
	53	public: Vector4<T> operator*(const Vector4<T> &_p) const;
	54	public: inline Vector4<T> operator*(T _s) const;
	55	public: bool operator==(const Vector4<T> &_v) const;
	56	public: bool Equal(const Vector4 &_v, const T &_tol) const;
	57	public: bool IsFinite() const;
	58	public: inline T X() const;
	59	public: inline T Y() const;
	60	public: inline T Z() const;
	61	public: inline T W() const;
	62	public: inline void X(const T &_v);
	63	public: inline void Y(const T &_v);
	64	public: inline void Z(const T &_v);
	65	public: inline void W(const T &_v);
	66	};
	67
	68	%template(Vector4i) Vector4<int>;
	69	%template(Vector4d) Vector4<double>;
	70	%template(Vector4f) Vector4<float>;
	71	}
	72	}

+112

-2

src/Vector4_TEST.cc less more

23	23	using namespace ignition;
24	24
25	25	/////////////////////////////////////////////////
	26	TEST(Vector4dTest, Construction)
	27	{
	28	math::Vector4d vec(1, 0, 0, 0);
	29
	30	// Copy constructor
	31	math::Vector4d vec2(vec);
	32	EXPECT_EQ(vec2, vec);
	33
	34	// Copy operator
	35	math::Vector4d vec3;
	36	vec3 = vec;
	37	EXPECT_EQ(vec3, vec);
	38
	39	// Move constructor
	40	math::Vector4d vec4(std::move(vec));
	41	EXPECT_EQ(vec4, vec2);
	42	vec = vec4;
	43	EXPECT_EQ(vec, vec2);
	44
	45	// Move operator
	46	math::Vector4d vec5;
	47	vec5 = std::move(vec2);
	48	EXPECT_EQ(vec5, vec3);
	49	vec2 = vec5;
	50	EXPECT_EQ(vec2, vec3);
	51
	52	// Inequality
	53	math::Vector4d vec6;
	54	EXPECT_NE(vec6, vec3);
	55	}
	56
	57	/////////////////////////////////////////////////
26	58	TEST(Vector4dTest, Vector4d)
27	59	{
28	60	{

42	74	math::Vector4d v(v1);
43	75	EXPECT_EQ(v, v1);
44	76
	77	// ::Distance
45	78	EXPECT_TRUE(math::equal(v.Distance(
46	79	math::Vector4d(0, 0, 0, 0)), 5.4772, 1e-3));
	80	EXPECT_TRUE(math::equal(v.Distance(1, 2, 3, 4), 0.0));
47	81
48	82	// ::Length()
49	83	v.Set(1, 2, 3, 4);

52	86	// ::SquaredLength()
53	87	EXPECT_TRUE(math::equal(v.SquaredLength(), 30.0));
54	88
	89	// ::Rounded
	90	v.Set(1.23, 2.34, 3.55, 8.49);
	91	EXPECT_TRUE(v.Rounded() == math::Vector4d(1, 2, 4, 8));
	92
	93	// ::Round
	94	v.Round();
	95	EXPECT_TRUE(v == math::Vector4d(1, 2, 4, 8));
	96
	97	// ::Correct
	98	v.Set(1, 1, std::nan("1"), 1);
	99	v.Correct();
	100	EXPECT_TRUE(v == math::Vector4d(1, 1, 0, 1));
	101
55	102	// ::Normalize
	103	v.Set(1, 2, 3, 4);
56	104	v.Normalize();
57	105	EXPECT_EQ(v, math::Vector4d(0.182574, 0.365148, 0.547723, 0.730297));
	106
	107	// ::Normalized
	108	v.Set(1, 2, 3, 4);
	109	EXPECT_EQ(v.Normalized(),
	110	math::Vector4d(0.182574, 0.365148, 0.547723, 0.730297));
58	111
59	112	// ::Set
60	113	v.Set(2, 4, 6, 8);
61	114	EXPECT_EQ(v, math::Vector4d(2, 4, 6, 8));
	115
	116	// ::DotProd
	117	EXPECT_TRUE(math::equal(60.0, v.Dot(math::Vector4d(1, 2, 3, 4)), 1e-2));
	118
	119	// ::AbsDotProd
	120	v1.Set(-1, -2, -3, -4);
	121	EXPECT_TRUE(math::equal(60.0, v.AbsDot(v1), 1e-2));
	122
	123	// ::GetAbs
	124	EXPECT_TRUE(v1.Abs() == math::Vector4d(1, 2, 3, 4));
	125	EXPECT_TRUE(v.Abs() == math::Vector4d(2, 4, 6, 8));
62	126
63	127	// ::operator= vector4
64	128	v = v1;

127	191
128	192	// ::operator != vector4
129	193	EXPECT_NE(v, math::Vector4d());
	194
	195	// ::operator < vector4
	196	v.Set(1, 2, 3, 4);
	197	EXPECT_TRUE(v < math::Vector4d(4, 3, 2, 1));
130	198
131	199	// ::IsFinite
132	200	EXPECT_TRUE(v.IsFinite());

156	224	}
157	225
158	226	/////////////////////////////////////////////////
	227	TEST(Vector4dTest, Max)
	228	{
	229	math::Vector4d vec1(0.1, 0.2, 0.3, 0.2);
	230	math::Vector4d vec2(0.2, 0.3, 0.4, 0.3);
	231	math::Vector4d vec3(0.1, 0.2, 0.3, 0.4);
	232
	233	EXPECT_DOUBLE_EQ(vec1.Max(), 0.3);
	234
	235	vec1.Max(vec2);
	236	EXPECT_EQ(vec1, math::Vector4d(0.2, 0.3, 0.4, 0.3));
	237
	238	vec1.Max(vec3);
	239	EXPECT_EQ(vec1, math::Vector4d(0.2, 0.3, 0.4, 0.4));
	240	}
	241
	242	/////////////////////////////////////////////////
	243	TEST(Vector4dTest, Min)
	244	{
	245	math::Vector4d vec1(0.1, 0.2, 0.3, 0.4);
	246	math::Vector4d vec2(0.2, 0.3, 0.4, 0.3);
	247	math::Vector4d vec3(0.05, 0.1, 0.2, 0.2);
	248
	249	EXPECT_DOUBLE_EQ(vec1.Min(), 0.1);
	250
	251	vec1.Min(vec2);
	252	EXPECT_EQ(vec1, math::Vector4d(0.1, 0.2, 0.3, 0.3));
	253
	254	vec1.Min(vec3);
	255	EXPECT_EQ(vec1, math::Vector4d(0.05, 0.1, 0.2, 0.2));
	256	}
	257
	258	/////////////////////////////////////////////////
159	259	// Test Equal function with specified tolerance
160		TEST(Vector2Test, EqualTolerance)
	260	TEST(Vector4dTest, EqualTolerance)
161	261	{
162	262	EXPECT_FALSE(math::Vector4d::Zero.Equal(math::Vector4d::One, 1e-6));
163	263	EXPECT_FALSE(math::Vector4d::Zero.Equal(math::Vector4d::One, 1e-3));
164	264	EXPECT_FALSE(math::Vector4d::Zero.Equal(math::Vector4d::One, 1e-1));
165	265	EXPECT_TRUE(math::Vector4d::Zero.Equal(math::Vector4d::One, 1));
166	266	EXPECT_TRUE(math::Vector4d::Zero.Equal(math::Vector4d::One, 1.1));
	267	}
	268
	269	/////////////////////////////////////////////////
	270	TEST(Vector4dTest, Sum)
	271	{
	272	math::Vector4d vec1(1.5, 2.5, 3.5, -4.5);
	273
	274	EXPECT_TRUE(math::equal(math::Vector4d::Zero.Sum(), 0.0, 1e-6));
	275	EXPECT_TRUE(math::equal(math::Vector4d::One.Sum(), 4.0, 1e-6));
	276	EXPECT_TRUE(math::equal(vec1.Sum(), 3.0, 1e-6));
167	277	}
168	278
169	279	/////////////////////////////////////////////////

258	368	}
259	369
260	370	/////////////////////////////////////////////////
261		TEST(Vector4Test, Multiply)
	371	TEST(Vector4dTest, Multiply)
262	372	{
263	373	math::Vector4d v(0.1, -4.2, 11.1, 8.4);
264	374

+300

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src/Vector4_TEST.rb less more

	0	# Copyright (C) 2016 Open Source Robotics Foundation
	1	#
	2	# Licensed under the Apache License, Version 2.0 (the "License");
	3	# you may not use this file except in compliance with the License.
	4	# You may obtain a copy of the License at
	5	#
	6	# http://www.apache.org/licenses/LICENSE-2.0
	7	#
	8	# Unless required by applicable law or agreed to in writing, software
	9	# distributed under the License is distributed on an "AS IS" BASIS,
	10	# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	11	# See the License for the specific language governing permissions and
	12	# limitations under the License.
	13
	14	#!/usr/bin/env ruby
	15
	16	require 'test/unit/ui/console/testrunner'
	17	require 'test/unit'
	18	require 'math'
	19
	20
	21	class Vector4_TEST < Test::Unit::TestCase
	22	def test_construction
	23	v = Ignition::Math::Vector4d.new
	24
	25	# ::operator== vector4
	26	assert(true,
	27	"Vector4d::Zero should equal [0, 0, 0, 0]")
	28
	29	# ::Distance, ::Length()
	30	v.Set(1, 2, 3, 4)
	31	assert(v.Length() == v.Distance(Ignition::Math::Vector4d.Zero),
	32	"Vector4d::Lenth() should equal Vector4d::Distance(zero)")
	33
	34	# ::operator/ vector4
	35	v.Set(4, 4, 4, 4)
	36	v = v / Ignition::Math::Vector4d.new(1, 2, 2, 4)
	37	assert(v == Ignition::Math::Vector4d.new(4, 2, 2, 1),
	38	"v / Vector4d(1, 2, 2, 4) should equal Vector4d(4, 2, 2, 1)")
	39
	40	# ::operator / double
	41	v = v / 2
	42	assert(v == Ignition::Math::Vector4d.new(2, 1, 1, 0.5),
	43	"v / 2 should equal Vector4d(2, 1, 1, .5)")
	44
	45	# ::operator * vector4
	46	v = v * Ignition::Math::Vector4d.new(2, 3, 3, 4)
	47	assert(v == Ignition::Math::Vector4d.new(4, 3, 3, 2),
	48	"v * Vector4d(2, 3, 3, 4) should equal Vector4d(4, 3, 3, 2)")
	49
	50	# operator /=
	51	v.Set(1, 2, 2, 4)
	52	v /= Ignition::Math::Vector4d.new(1, 4, 8, 4)
	53	assert(v == Ignition::Math::Vector4d.new(1, 0.5, 0.25, 1))
	54
	55	# operator *=
	56	v.Set(1, 2, 2, 4)
	57	v *= Ignition::Math::Vector4d.new(2, 0.5, 0.25, 0.1)
	58	assert(v == Ignition::Math::Vector4d.new(2, 1, 0.5, 0.4))
	59
	60	# Test the static defines.
	61	assert(Ignition::Math::Vector4d.Zero ==
	62	Ignition::Math::Vector4d.new(0, 0, 0, 0),
	63	"Vector4d::Zero should equal [0, 0, 0, 0]")
	64
	65	assert(Ignition::Math::Vector4d.One ==
	66	Ignition::Math::Vector4d.new(1, 1, 1, 1),
	67	"Vector4d::One should equal [1, 1, 1, 1]")
	68	end
	69
	70	def test_distance
	71	vec1 = Ignition::Math::Vector4d.new(0, 0, 0, 0)
	72	vec2 = Ignition::Math::Vector4d.new(1, 2, 3, 4)
	73
	74	dist = vec1.Distance(vec2)
	75	assert((dist - 5.47722557505).abs() < 1e-6,
	76	"Vector4 distance should be near 5,47722557505")
	77	end
	78
	79	def test_squared_length
	80	vec1 = Ignition::Math::Vector4d.new(0, 0, 0, 0)
	81	vec2 = Ignition::Math::Vector4d.new(1, 2, 3, 4)
	82
	83	sum1 = vec1.SquaredLength()
	84	sum2 = vec2.SquaredLength()
	85
	86	assert(sum1 == 0, "Vector4 sum1 should equal 0")
	87	assert(sum2 == 30, "Vector4 sum2 should equal 30")
	88	end
	89
	90	def test_length
	91	# Zero vector
	92	assert(Ignition::Math::Vector4d.Zero.Length() == 0.0,
	93	"Vector4 length of [0, 0, 0, 0] should equal 0")
	94	assert(Ignition::Math::Vector4d.Zero.SquaredLength() == 0.0,
	95	"Vector4 squared length of [0, 0, 0, 0] should equal 0")
	96
	97	# One vector
	98	assert((Ignition::Math::Vector4d.One.Length() -
	99	Math.sqrt(4.0)).abs() < 1e-10,
	100	"Vector4 length of [1, 1, 1, 1] should equal sqrt(4.0)")
	101
	102	assert(Ignition::Math::Vector4d.One.SquaredLength() == 4.0,
	103	"Vector4 squared lenght of [1, 1, 1, 1] should equal 4.0")
	104
	105	# Arbitrary vector
	106	v = Ignition::Math::Vector4d.new(0.1, -4.2, 2.5, -1.2)
	107	assert((v.Length() - 5.03388517946).abs() < 1e-10,
	108	"Vector4 v length should equal 5.03388517946")
	109
	110	assert((v.SquaredLength() - 25.34).abs() < 1e-10 ,
	111	"Vector4 v squared length should equal 25.34")
	112	end
	113
	114	def test_normalize
	115	vec1 = Ignition::Math::Vector4d.new(0, 0, 0, 0)
	116	vec2 = Ignition::Math::Vector4d.new(1, 2, 3, 4)
	117
	118	vec3 = vec1
	119	vec3.Normalize()
	120	assert(vec3 == vec1, "Vector4 vec3 should equal vec1")
	121	assert(vec1 == Ignition::Math::Vector4d.Zero,
	122	"Vector4 should equal [0, 0, 0, 0]")
	123
	124	vec3 = vec2
	125	vec2.Normalize()
	126	assert(vec2.Equal(Ignition::Math::Vector4d.new(0.182575, 0.365150, 0.547725, 0.730300), 1e-5),
	127	"Vector4 vec3 should equal [0.182575, 0.365150, 0.547725, 0.730300]")
	128	end
	129
	130	def test_add
	131	vec1 = Ignition::Math::Vector4d.new(0.1, 0.2, 0.4, 0.8)
	132	vec2 = Ignition::Math::Vector4d.new(1.1, 2.2, 3.4, 4.3)
	133
	134	vec3 = vec1
	135	vec3 += vec2
	136
	137	assert(vec1 + vec2 == Ignition::Math::Vector4d.new(1.2, 2.4, 3.8, 5.1),
	138	"Vector4 vec1 + vec2 should equal [1.2, 2.4, 3.8, 4.9]")
	139	assert(vec3 == Ignition::Math::Vector4d.new(1.2, 2.4, 3.8, 5.1),
	140	"Vector4 vec3 should equal [1.2, 2.4, 3.8, 4.9]")
	141
	142	# Addition with zeros
	143
	144	# Scalar left and right
	145	assert(vec1 + 0 == vec1, "Vector4 vec1+0 should equal vec1")
	146
	147	# Vector left and right
	148	assert(Ignition::Math::Vector4d.Zero + vec1 == vec1,
	149	"Vector4 Zero + vec1 should equal vec1")
	150	assert(vec1 + Ignition::Math::Vector4d.Zero == vec1,
	151	"Vector4 vec1 + Zero should equal vec1")
	152
	153	# Addition assignment
	154	vec4 = vec1
	155	vec4 += 0
	156	assert(vec4 == vec1, "Vector4 vec4 should equal vec1")
	157	vec4 += Ignition::Math::Vector4d.Zero
	158	assert(vec4 == vec1, "Vector4 vec4 should equal vec1")
	159
	160	# Add non-trivial scalar values left and right
	161	assert(vec1 + 2.5 == Ignition::Math::Vector4d.new(2.6, 2.7, 2.9, 3.3),
	162	"Vector4 vec1 + 2.5 should equal [2.6, 2.7, 2.9, 3.3]")
	163
	164	vec1 = vec4
	165	vec4 += 2.5
	166	assert(vec4 == Ignition::Math::Vector4d.new(2.6, 2.7, 2.9, 3.3),
	167	"Vector4 vec4 should equal [2.6, 2.7, 2.9, 3.3]")
	168	end
	169
	170	def test_sub
	171	vec1 = Ignition::Math::Vector4d.new(0.1, 0.2, 0.4, 0.8)
	172	vec2 = Ignition::Math::Vector4d.new(1.1, 2.2, 3.4, 4.3)
	173
	174	vec3 = vec2
	175	vec3 -= vec1
	176
	177	assert(vec2 - vec1 === Ignition::Math::Vector4d.new(1.0, 2.0, 3.0, 3.5),
	178	"Vector4 vec2 - vec1 should equal [1.0, 2.0, 3.0, 3.5]")
	179	assert(vec3 == Ignition::Math::Vector4d.new(1.0, 2.0, 3.0, 3.5),
	180	"Vector4 vec3 should equal [1.0, 2.0, 3.0, 3.5]")
	181
	182	# Subtraction with zeros
	183
	184	# Scalar left and right
	185	assert(vec1 - 0 == vec1, "Vector4 vec1 - 0 should equal vec1")
	186
	187	# Vector left and right
	188	assert(Ignition::Math::Vector4d.Zero - vec1 == -vec1,
	189	"Vector4 Zero - vec1 should equal -vec1")
	190	assert(vec1 - Ignition::Math::Vector4d.Zero == vec1,
	191	"Vector4 vec1 - Zero should equal vec1")
	192
	193	# Subtraction assignment
	194	vec4 = vec1
	195	vec4 -= 0
	196	assert(vec4 == vec1, "Vector4 vec4 should equal vec1")
	197	vec4 -= Ignition::Math::Vector4d.Zero
	198	assert(vec4 == vec1, "Vector4 vec4 should equal vec1")
	199
	200	# Subtract non-trivial scalar values left and right
	201	assert(vec1 - 2.5 == -Ignition::Math::Vector4d.new(2.4, 2.3, 2.1, 1.7),
	202	"Vecetor3 vec1 - 2.5 should equal [2.4, 2.3, 2.1, 1.7]")
	203
	204	vec4 = vec1
	205	vec4 -= 2.5
	206	assert(vec4 == -Ignition::Math::Vector4d.new(2.4, 2.3, 2.1, 1.7),
	207	"Vector4 vec4 - 2.5 should equal [2.4, 2.3, 2.1, 1.7]")
	208	end
	209
	210	def test_divide
	211	vec1 = Ignition::Math::Vector4d.new(0.1, 0.2, 0.4, 0.8)
	212
	213	vec3 = vec1 / 2.0
	214	assert(vec3 == Ignition::Math::Vector4d.new(0.05, 0.1, 0.2, 0.4),
	215	"Vector4 vec3 should equal [0.05, 0.1, 0.2, 0.4]")
	216
	217	vec3 /= 4.0
	218	assert(vec3 == Ignition::Math::Vector4d.new(0.0125, 0.025, 0.05, 0.1),
	219	"Vector4 vec3 should qual [0.0125, 0.025, 0.05, 0.1]")
	220	end
	221
	222	def test_multiply
	223	v = Ignition::Math::Vector4d.new(0.1, 0.2, 0.3, 0.4)
	224
	225	vec3 = v * 2.0
	226	assert(vec3 == Ignition::Math::Vector4d.new(0.2, 0.4, 0.6, 0.8),
	227	"Vector4 vec3 should equal[0.2, 0.4, 0.6, 0.8]")
	228
	229	vec3 *= 4.0
	230	assert(vec3 == Ignition::Math::Vector4d.new(0.8, 1.6, 2.4, 3.2),
	231	"Vector4 vec3 should equal [0.8, 1.6, 2.4, 3.2]")
	232
	233	# Multiply by zero
	234
	235	# Scalar left and right
	236	assert(v * 0 == Ignition::Math::Vector4d.Zero,
	237	"Vector4 v * 0 should equal Zero")
	238
	239	# Element-wise vector multiplication
	240	assert(v * Ignition::Math::Vector4d.Zero == Ignition::Math::Vector4d.Zero,
	241	"Vector4 v * Zero should equal Zero")
	242
	243	# Multiply by one
	244
	245	# Scalar left and right
	246	assert(v * 1 == v, "Vector4 v * 1 should equal v")
	247
	248	# Element-wise vector multiplication
	249	assert(v * Ignition::Math::Vector4d.One == v,
	250	"Vector4 v * One should equal v")
	251
	252	# Multiply by non-trivial scalar value
	253
	254	scalar = 2.5
	255	expect = Ignition::Math::Vector4d.new(0.25, 0.5, 0.75, 1.0)
	256	assert(v * scalar == expect,
	257	"Vector4 v * scalar should equal [0.25, 0.5, 0.75, 1.0]")
	258
	259	# Multiply by itself element-wise
	260	assert(v*v == Ignition::Math::Vector4d.new(0.01, 0.04, 0.09, 0.16),
	261	"Vector4 v * v should euqal [0.01, 0.04, 0.09, 0.16]")
	262	end
	263
	264	def test_not_equal
	265	vec1 = Ignition::Math::Vector4d.new(0.1, 0.2, 0.3, 0.4)
	266	vec2 = Ignition::Math::Vector4d.new(0.2, 0.2, 0.3, 0.4)
	267	vec3 = Ignition::Math::Vector4d.new(0.1, 0.2, 0.3, 0.4)
	268
	269	assert(vec1 != vec2, "Vector4 vec1 should not equal vec2")
	270	assert(!(vec1 != vec3), "Vector4 vec1 should equal vec3" )
	271	end
	272
	273	def test_equal
	274	assert(!Ignition::Math::Vector4d.Zero.Equal(
	275	Ignition::Math::Vector4d.One, 1e-6),
	276	"Vector4 Zero should not equal 1 with tolerance of 1e-6")
	277	assert(!Ignition::Math::Vector4d.Zero.Equal(
	278	Ignition::Math::Vector4d.One, 1e-3),
	279	"Vector4 Zero should not equal 1 with tolerance of 1e-3")
	280	assert(!Ignition::Math::Vector4d.Zero.Equal(
	281	Ignition::Math::Vector4d.One, 1e-1),
	282	"Vector4 Zero should not equal 1 with tolerance of 1e-1")
	283
	284	assert(Ignition::Math::Vector4d.Zero.Equal(
	285	Ignition::Math::Vector4d.One, 1),
	286	"Vector4 Zero should equal 1 with tolerance of 1")
	287	assert(Ignition::Math::Vector4d.Zero.Equal(
	288	Ignition::Math::Vector4d.One, 1.1),
	289	"Vector4 Zero should equal 1 with tolerance of 1.1")
	290	end
	291
	292	def test_finite
	293	vec1 = Ignition::Math::Vector4d.new(0.1, 0.2, 0.3, 0.4)
	294
	295	assert(vec1.IsFinite(), "Vector4 vec1 should be be finite")
	296	end
	297	end
	298
	299	exit Test::Unit::UI::Console::TestRunner.run(Vector4_TEST).passed? ? 0 : -1

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src/graph/GraphAlgorithms_TEST.cc less more

309	309	}
310	310	}
311	311
	312	/////////////////////////////////////////////////
	313	TEST(GraphTestFixture, ToUndirectedGraph)
	314	{
	315	/// (6) \|
	316	/// 0------>1 \|
	317	/// \| /\|\ \|
	318	/// \| / \| \(5) \|
	319	/// \| (2)/ \| ┘ \|
	320	/// \| / \| 2 \|
	321	/// (1)\| / (2)\| / \|
	322	/// \| / \| /(5) \|
	323	/// VL VL \|
	324	/// 3------>4 \|
	325	/// (1) \|
	326	DirectedGraph<int, double> directed(
	327	{
	328	// Vertices.
	329	{{"0", 0, 0}, {"1", 1, 1}, {"2", 2, 2}, {"3", 3, 3}, {"4", 4, 4}},
	330	// Edges.
	331	{{{0, 1}, 2.0, 6.0}, {{0, 3}, 3.0, 1.0},
	332	{{1, 2}, 4.0, 5.0}, {{1, 3}, 4.0, 2.0}, {{1, 4}, 4.0, 2.0},
	333	{{2, 4}, 2.0, 5.0},
	334	{{3, 4}, 2.0, 1.0}}
	335	});
	336
	337	// Convert to undirected graph.
	338	auto undirected = ToUndirectedGraph(directed);
	339	EXPECT_EQ(5u, undirected.Vertices().size());
	340	EXPECT_EQ(7u, undirected.Edges().size());
	341	EXPECT_EQ(directed.Vertices().size(), undirected.Vertices().size());
	342	EXPECT_EQ(directed.Edges().size(), undirected.Edges().size());
	343
	344	// Compare vertices.
	345	for (auto const &dvPair : directed.Vertices())
	346	{
	347	const VertexId dvId = dvPair.first;
	348	auto const &uv = undirected.VertexFromId(dvId);
	349	EXPECT_TRUE(uv.Valid());
	350	EXPECT_TRUE(dvPair.second.get().Valid());
	351	EXPECT_EQ(uv.Id(), dvId);
	352	EXPECT_EQ(uv.Name(), dvPair.second.get().Name());
	353	EXPECT_EQ(uv.Data(), dvPair.second.get().Data());
	354	}
	355
	356	// Compare edges.
	357	for (auto const &dePair : directed.Edges())
	358	{
	359	const EdgeId deId = dePair.first;
	360	auto const &ue = undirected.EdgeFromId(deId);
	361	EXPECT_TRUE(ue.Valid());
	362	EXPECT_TRUE(dePair.second.get().Valid());
	363	EXPECT_EQ(ue.Id(), deId);
	364	EXPECT_DOUBLE_EQ(ue.Data(), dePair.second.get().Data());
	365	EXPECT_DOUBLE_EQ(ue.Weight(), dePair.second.get().Weight());
	366	}
	367
	368	// std::cerr << directed << std::endl;
	369	// std::cerr << undirected << std::endl;
	370	}

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src/ign_math.i less more

0	0	%include "Angle.i"
	1	%include "GaussMarkovProcess.i"
	2	%include "Rand.i"
1	3	%include "Vector2.i"
2	4	%include "Vector3.i"
	5	%include "Vector4.i"

+21

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test/CMakeLists.txt less more

19	19	execute_process(COMMAND cmake -E make_directory ${CMAKE_BINARY_DIR}/test_results)
20	20	include_directories(${GTEST_INCLUDE_DIRS})
21	21
	22	#============================================================================
	23	# Do a fake install of ign-math in order to test the examples.
	24	#============================================================================
	25	set(FAKE_INSTALL_PREFIX "${CMAKE_BINARY_DIR}/fake/install")
	26
	27	file(MAKE_DIRECTORY ${FAKE_INSTALL_PREFIX})
	28
	29	include(ExternalProject)
	30	ExternalProject_Add(
	31	FAKE_INSTALL
	32
	33	SOURCE_DIR "${CMAKE_SOURCE_DIR}"
	34	EXCLUDE_FROM_ALL 1
	35	LOG_CONFIGURE 1
	36	LOG_BUILD 1
	37	LOG_INSTALL 1
	38	CMAKE_ARGS
	39	"-DBUILD_TESTING=OFF"
	40	"-DCMAKE_INSTALL_PREFIX=${FAKE_INSTALL_PREFIX}"
	41	)
	42
22	43	add_subdirectory(integration)
23	44	add_subdirectory(performance)
24	45	add_subdirectory(regression)

+10

-4

test/integration/CMakeLists.txt less more

0	0	set(TEST_TYPE "INTEGRATION")
1	1
2		set(tests
3		)
4
5		link_directories(${PROJECT_BINARY_DIR}/test)
	2	ign_get_sources(tests)
6	3
7	4	# Test symbols having the right name on linux only
8	5	if (UNIX AND NOT APPLE)

12	9	endif()
13	10
14	11	ign_build_tests(TYPE INTEGRATION SOURCES ${tests})
	12
	13	if(TARGET INTEGRATION_ExamplesBuild_TEST)
	14	add_dependencies(INTEGRATION_ExamplesBuild_TEST FAKE_INSTALL)
	15
	16	set(_env_vars)
	17	list(APPEND _env_vars "CMAKE_PREFIX_PATH=${FAKE_INSTALL_PREFIX}:$ENV{CMAKE_PREFIX_PATH}")
	18	set_tests_properties(INTEGRATION_ExamplesBuild_TEST PROPERTIES
	19	ENVIRONMENT "${_env_vars}")
	20	endif()

+402

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test/integration/ExamplesBuild_TEST.cc less more

	0	/*
	1	* Copyright (C) 2019 Open Source Robotics Foundation
	2	*
	3	* Licensed under the Apache License, Version 2.0 (the "License");
	4	* you may not use this file except in compliance with the License.
	5	* You may obtain a copy of the License at
	6	*
	7	* http://www.apache.org/licenses/LICENSE-2.0
	8	*
	9	* Unless required by applicable law or agreed to in writing, software
	10	* distributed under the License is distributed on an "AS IS" BASIS,
	11	* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	12	* See the License for the specific language governing permissions and
	13	* limitations under the License.
	14	*
	15	*/
	16
	17	#include <gtest/gtest.h>
	18	#include <cstring>
	19	#include <fstream>
	20	#include <string>
	21
	22	#include "test_config.h" // NOLINT(build/include)
	23
	24	#ifdef _WIN32
	25	# define IGN_PATH_MAX _MAX_PATH
	26	#elif defined(PATH_MAX)
	27	# define IGN_PATH_MAX PATH_MAX
	28	#elif defined(_XOPEN_PATH_MAX)
	29	# define IGN_PATH_MAX _XOPEN_PATH_MAX
	30	#else
	31	# define IGN_PATH_MAX _POSIX_PATH_MAX
	32	#endif
	33
	34
	35	// Helper functions copied from
	36	// https://github.com/ignitionrobotics/ign-common/raw/master/src/Filesystem_TEST.cc
	37
	38	#ifndef _WIN32
	39	#include <dirent.h> // NOLINT(build/include_order)
	40	#include <fcntl.h> // NOLINT(build/include_order)
	41	#include <limits.h> // NOLINT(build/include_order)
	42	#include <stdlib.h> // NOLINT(build/include_order)
	43	#include <sys/stat.h> // NOLINT(build/include_order)
	44	#include <sys/types.h> // NOLINT(build/include_order)
	45	#include <unistd.h> // NOLINT(build/include_order)
	46
	47	/////////////////////////////////////////////////
	48	bool createAndSwitchToTempDir(std::string &_newTempPath)
	49	{
	50	std::string tmppath;
	51	const char *tmp = std::getenv("TMPDIR");
	52	if (tmp)
	53	{
	54	tmppath = std::string(tmp);
	55	}
	56	else
	57	{
	58	tmppath = std::string("/tmp");
	59	}
	60
	61	tmppath += "/XXXXXX";
	62
	63	char dtemp = mkdtemp(const_cast<char >(tmppath.c_str()));
	64	if (dtemp == nullptr)
	65	{
	66	return false;
	67	}
	68	if (chdir(dtemp) < 0)
	69	{
	70	return false;
	71	}
	72
	73	// cppcheck-suppress *
	74	char resolved[PATH_MAX];
	75	if (realpath(dtemp, resolved) == nullptr)
	76	{
	77	return false;
	78	}
	79
	80	_newTempPath = std::string(resolved);
	81
	82	return true;
	83	}
	84
	85	#else
	86	#include <io.h> // NOLINT(build/include_order)
	87	#include <windows.h> // NOLINT(build/include_order)
	88	#include <winioctl.h> // NOLINT(build/include_order)
	89	#include <winnt.h> // NOLINT(build/include_order)
	90	#include <cstdint>
	91	#include "./win_dirent.h"
	92
	93	/////////////////////////////////////////////////
	94	bool createAndSwitchToTempDir(std::string &_newTempPath)
	95	{
	96	char tempPath[MAX_PATH + 1];
	97	DWORD pathLen = ::GetTempPathA(MAX_PATH, tempPath);
	98	if (pathLen >= MAX_PATH \|\| pathLen <= 0)
	99	{
	100	return false;
	101	}
	102	std::string pathToCreate(tempPath);
	103	srand(static_cast<uint32_t>(time(nullptr)));
	104
	105	for (int count = 0; count < 50; ++count)
	106	{
	107	// Try creating a new temporary directory with a randomly generated name.
	108	// If the one we chose exists, keep trying another path name until we reach
	109	// some limit.
	110	std::string newDirName;
	111	newDirName.append(std::to_string(::GetCurrentProcessId()));
	112	newDirName.push_back('_');
	113	// On Windows, rand_r() doesn't exist as an alternative to rand(), so the
	114	// cpplint warning is spurious. This program is not multi-threaded, so
	115	// it is safe to suppress the threadsafe_fn warning here.
	116	newDirName.append(
	117	std::to_string(rand() // NOLINT(runtime/threadsafe_fn)
	118	% ((int16_t)0x7fff)));
	119
	120	pathToCreate += newDirName;
	121	if (::CreateDirectoryA(pathToCreate.c_str(), nullptr))
	122	{
	123	_newTempPath = pathToCreate;
	124	return ::SetCurrentDirectoryA(_newTempPath.c_str()) != 0;
	125	}
	126	}
	127
	128	return false;
	129	}
	130
	131	struct handle_wrapper
	132	{
	133	HANDLE handle;
	134	explicit handle_wrapper(HANDLE h)
	135	: handle(h) {}
	136	~handle_wrapper()
	137	{
	138	if (handle != INVALID_HANDLE_VALUE)
	139	{
	140	::CloseHandle(handle);
	141	}
	142	}
	143	};
	144
	145	//////////////////////////////////////////////////
	146	HANDLE create_file_handle(const std::string &_path, DWORD _dwDesiredAccess,
	147	DWORD _dwShareMode,
	148	LPSECURITY_ATTRIBUTES _lpSecurityAttributes,
	149	DWORD _dwCreationDisposition,
	150	DWORD _dwFlagsAndAttributes,
	151	HANDLE _hTemplateFile)
	152	{
	153	return ::CreateFileA(_path.c_str(), _dwDesiredAccess,
	154	_dwShareMode, _lpSecurityAttributes,
	155	_dwCreationDisposition, _dwFlagsAndAttributes,
	156	_hTemplateFile);
	157	}
	158
	159	//////////////////////////////////////////////////
	160	bool not_found_error(int _errval)
	161	{
	162	return _errval == ERROR_FILE_NOT_FOUND
	163	\|\| _errval == ERROR_PATH_NOT_FOUND
	164	\|\| _errval == ERROR_INVALID_NAME // "tools/src/:sys:stat.h", "//foo"
	165	\|\| _errval == ERROR_INVALID_DRIVE // USB card reader with no card
	166	\|\| _errval == ERROR_NOT_READY // CD/DVD drive with no disc inserted
	167	\|\| _errval == ERROR_INVALID_PARAMETER // ":sys:stat.h"
	168	\|\| _errval == ERROR_BAD_PATHNAME // "//nosuch" on Win64
	169	\|\| _errval == ERROR_BAD_NETPATH; // "//nosuch" on Win32
	170	}
	171
	172	#ifndef MAXIMUM_REPARSE_DATA_BUFFER_SIZE
	173	#define MAXIMUM_REPARSE_DATA_BUFFER_SIZE (16 * 1024)
	174	#endif
	175
	176	typedef struct _REPARSE_DATA_BUFFER {
	177	ULONG ReparseTag;
	178	USHORT ReparseDataLength;
	179	USHORT Reserved;
	180	union {
	181	struct {
	182	USHORT SubstituteNameOffset;
	183	USHORT SubstituteNameLength;
	184	USHORT PrintNameOffset;
	185	USHORT PrintNameLength;
	186	ULONG Flags;
	187	WCHAR PathBuffer[1];
	188	/* Example of distinction between substitute and print names:
	189	mklink /d ldrive c:\
	190	SubstituteName: c:\\??\
	191	PrintName: c:\
	192	*/
	193	} SymbolicLinkReparseBuffer;
	194	struct {
	195	USHORT SubstituteNameOffset;
	196	USHORT SubstituteNameLength;
	197	USHORT PrintNameOffset;
	198	USHORT PrintNameLength;
	199	WCHAR PathBuffer[1];
	200	} MountPointReparseBuffer;
	201	struct {
	202	UCHAR DataBuffer[1];
	203	} GenericReparseBuffer;
	204	};
	205	} REPARSE_DATA_BUFFER, *PREPARSE_DATA_BUFFER;
	206
	207	//////////////////////////////////////////////////
	208	bool is_reparse_point_a_symlink(const std::string &_path)
	209	{
	210	handle_wrapper h(create_file_handle(_path, FILE_READ_EA,
	211	FILE_SHARE_READ \| FILE_SHARE_WRITE \| FILE_SHARE_DELETE,
	212	nullptr, OPEN_EXISTING,
	213	FILE_FLAG_BACKUP_SEMANTICS \| FILE_FLAG_OPEN_REPARSE_POINT,
	214	nullptr));
	215	if (h.handle == INVALID_HANDLE_VALUE)
	216	{
	217	return false;
	218	}
	219
	220	std::vector<wchar_t> buf(MAXIMUM_REPARSE_DATA_BUFFER_SIZE);
	221
	222	// Query the reparse data
	223	DWORD dwRetLen;
	224	BOOL result = ::DeviceIoControl(h.handle, FSCTL_GET_REPARSE_POINT,
	225	nullptr, 0, buf.data(), (DWORD)buf.size(), &dwRetLen, nullptr);
	226	if (!result)
	227	{
	228	return false;
	229	}
	230
	231	return reinterpret_cast<const REPARSE_DATA_BUFFER*>(&buf[0])->ReparseTag
	232	== IO_REPARSE_TAG_SYMLINK
	233	// Issue 9016 asked that NTFS directory junctions be recognized as
	234	// directories. That is equivalent to recognizing them as symlinks, and
	235	// then the normal symlink mechanism will recognize them as directories.
	236	//
	237	// Directory junctions are very similar to symlinks, but have some
	238	// performance and other advantages over symlinks. They can be created
	239	// from the command line with "mklink /j junction-name target-path".
	240	\|\| reinterpret_cast<const REPARSE_DATA_BUFFER*>(&buf[0])->ReparseTag
	241	== IO_REPARSE_TAG_MOUNT_POINT; // "directory junction" or "junction"
	242	}
	243
	244	//////////////////////////////////////////////////
	245	bool process_status_failure()
	246	{
	247	int errval(::GetLastError());
	248
	249	if (not_found_error(errval))
	250	{
	251	return false;
	252	}
	253	else if ((errval == ERROR_SHARING_VIOLATION))
	254	{
	255	return true; // odd, but this is what boost does
	256	}
	257	return false;
	258	}
	259
	260	//////////////////////////////////////////////////
	261	bool internal_check_path(const std::string &_path, DWORD &attr)
	262	{
	263	attr = ::GetFileAttributesA(_path.c_str());
	264	if (attr == 0xFFFFFFFF)
	265	{
	266	return process_status_failure();
	267	}
	268
	269	// reparse point handling;
	270	// since GetFileAttributesW does not resolve symlinks, try to open file
	271	// handle to discover if the file exists
	272	if (attr & FILE_ATTRIBUTE_REPARSE_POINT)
	273	{
	274	handle_wrapper h(
	275	create_file_handle(
	276	_path,
	277	0, // dwDesiredAccess; attributes only
	278	FILE_SHARE_DELETE \| FILE_SHARE_READ \| FILE_SHARE_WRITE,
	279	0, // lpSecurityAttributes
	280	OPEN_EXISTING,
	281	FILE_FLAG_BACKUP_SEMANTICS,
	282	0)); // hTemplateFile
	283	if (h.handle == INVALID_HANDLE_VALUE)
	284	{
	285	return process_status_failure();
	286	}
	287
	288	if (!is_reparse_point_a_symlink(_path))
	289	{
	290	return true;
	291	}
	292	}
	293
	294	return true;
	295	}
	296	#endif
	297
	298	//////////////////////////////////////////////////
	299	bool isDirectory(const std::string &_path)
	300	{
	301	#ifndef _WIN32
	302	struct stat path_stat;
	303
	304	if (::stat(_path.c_str(), &path_stat) != 0)
	305	{
	306	return false;
	307	}
	308
	309	// cppcheck-suppress ConfigurationNotChecked
	310	return S_ISDIR(path_stat.st_mode);
	311	#else
	312	DWORD attr;
	313
	314	if (internal_check_path(_path, attr))
	315	{
	316	return (attr & FILE_ATTRIBUTE_DIRECTORY) != 0;
	317	}
	318
	319	return false;
	320	#endif
	321	}
	322
	323	//////////////////////////////////////////////////
	324	bool isFile(const std::string &_path)
	325	{
	326	std::ifstream f(_path);
	327	return (!isDirectory(_path)) && f.good();
	328	}
	329
	330	//////////////////////////////////////////////////
	331	void removeAll(const std::string &_path)
	332	{
	333	if (isDirectory(_path))
	334	{
	335	DIR *dir = opendir(_path.c_str());
	336	if (dir)
	337	{
	338	struct dirent *p;
	339	while ((p=readdir(dir)))
	340	{
	341	// Skip special files.
	342	if (!std::strcmp(p->d_name, ".") \|\| !std::strcmp(p->d_name, ".."))
	343	continue;
	344
	345	removeAll(_path + "/" + p->d_name);
	346	}
	347	}
	348	closedir(dir);
	349
	350	// Remove the directory
	351	bool removed;
	352	#ifdef _WIN32
	353	removed = RemoveDirectory(_path.c_str());
	354	#else
	355	removed = (rmdir(_path.c_str()) == 0);
	356	if (!removed)
	357	{
	358	// A sym link would end up here
	359	removed = (std::remove(_path.c_str()) == 0);
	360	}
	361	#endif
	362	ASSERT_TRUE(removed);
	363	}
	364	else if (isFile(_path))
	365	{
	366	const bool removed = (std::remove(_path.c_str()) == 0);
	367	ASSERT_TRUE(removed);
	368	}
	369	}
	370
	371	//////////////////////////////////////////////////
	372	TEST(ExamplesBuild, Build)
	373	{
	374	// \todo(nkoenig) Fix windows.
	375	#ifndef _WIN32
	376	// Path to examples of the given type
	377	std::string examplesDir = std::string(PROJECT_SOURCE_PATH) + "/examples/";
	378
	379	// Create a temp build directory
	380	std::string tmpBuildDir;
	381	ASSERT_TRUE(createAndSwitchToTempDir(tmpBuildDir));
	382	std::cout << "Build directory: " << tmpBuildDir<< std::endl;
	383
	384	char cmd[1024];
	385
	386	// cd build && cmake source
	387	snprintf(cmd, sizeof(cmd), "cd %s && cmake %s && make",
	388	tmpBuildDir.c_str(), examplesDir.c_str());
	389	ASSERT_EQ(system(cmd), 0);
	390
	391	// Remove temp dir
	392	removeAll(tmpBuildDir);
	393	#endif
	394	}
	395
	396	//////////////////////////////////////////////////
	397	int main(int argc, char **argv)
	398	{
	399	::testing::InitGoogleTest(&argc, argv);
	400	return RUN_ALL_TESTS();
	401	}

+945

-0

test/integration/win_dirent.h less more

	0	/*
	1	* Dirent interface for Microsoft Visual Studio
	2	* Version 1.21
	3	*
	4	* Copyright (C) 2006-2012 Toni Ronkko
	5	* This file is part of dirent. Dirent may be freely distributed
	6	* under the MIT license. For all details and documentation, see
	7	* https://github.com/tronkko/dirent
	8	*/
	9	#ifndef DIRENT_H
	10	#define DIRENT_H
	11
	12	/*
	13	* Include windows.h without Windows Sockets 1.1 to prevent conflicts with
	14	* Windows Sockets 2.0.
	15	*/
	16	#ifndef WIN32_LEAN_AND_MEAN
	17	# define WIN32_LEAN_AND_MEAN
	18	#endif
	19	#include <windows.h>
	20
	21	#include <stdio.h>
	22	#include <stdarg.h>
	23	#include <wchar.h>
	24	#include <string.h>
	25	#include <stdlib.h>
	26	#include <malloc.h>
	27	#include <sys/types.h>
	28	#include <sys/stat.h>
	29	#include <errno.h>
	30
	31	/* Indicates that d_type field is available in dirent structure */
	32	#define _DIRENT_HAVE_D_TYPE
	33
	34	/* Indicates that d_namlen field is available in dirent structure */
	35	#define _DIRENT_HAVE_D_NAMLEN
	36
	37	/* Entries missing from MSVC 6.0 */
	38	#if !defined(FILE_ATTRIBUTE_DEVICE)
	39	# define FILE_ATTRIBUTE_DEVICE 0x40
	40	#endif
	41
	42	/* File type and permission flags for stat(), general mask */
	43	#if !defined(S_IFMT)
	44	# define S_IFMT _S_IFMT
	45	#endif
	46
	47	/* Directory bit */
	48	#if !defined(S_IFDIR)
	49	# define S_IFDIR _S_IFDIR
	50	#endif
	51
	52	/* Character device bit */
	53	#if !defined(S_IFCHR)
	54	# define S_IFCHR _S_IFCHR
	55	#endif
	56
	57	/* Pipe bit */
	58	#if !defined(S_IFFIFO)
	59	# define S_IFFIFO _S_IFFIFO
	60	#endif
	61
	62	/* Regular file bit */
	63	#if !defined(S_IFREG)
	64	# define S_IFREG _S_IFREG
	65	#endif
	66
	67	/* Read permission */
	68	#if !defined(S_IREAD)
	69	# define S_IREAD _S_IREAD
	70	#endif
	71
	72	/* Write permission */
	73	#if !defined(S_IWRITE)
	74	# define S_IWRITE _S_IWRITE
	75	#endif
	76
	77	/* Execute permission */
	78	#if !defined(S_IEXEC)
	79	# define S_IEXEC _S_IEXEC
	80	#endif
	81
	82	/* Pipe */
	83	#if !defined(S_IFIFO)
	84	# define S_IFIFO _S_IFIFO
	85	#endif
	86
	87	/* Block device */
	88	#if !defined(S_IFBLK)
	89	# define S_IFBLK 0
	90	#endif
	91
	92	/* Link */
	93	#if !defined(S_IFLNK)
	94	# define S_IFLNK 0
	95	#endif
	96
	97	/* Socket */
	98	#if !defined(S_IFSOCK)
	99	# define S_IFSOCK 0
	100	#endif
	101
	102	/* Read user permission */
	103	#if !defined(S_IRUSR)
	104	# define S_IRUSR S_IREAD
	105	#endif
	106
	107	/* Write user permission */
	108	#if !defined(S_IWUSR)
	109	# define S_IWUSR S_IWRITE
	110	#endif
	111
	112	/* Execute user permission */
	113	#if !defined(S_IXUSR)
	114	# define S_IXUSR 0
	115	#endif
	116
	117	/* Read group permission */
	118	#if !defined(S_IRGRP)
	119	# define S_IRGRP 0
	120	#endif
	121
	122	/* Write group permission */
	123	#if !defined(S_IWGRP)
	124	# define S_IWGRP 0
	125	#endif
	126
	127	/* Execute group permission */
	128	#if !defined(S_IXGRP)
	129	# define S_IXGRP 0
	130	#endif
	131
	132	/* Read others permission */
	133	#if !defined(S_IROTH)
	134	# define S_IROTH 0
	135	#endif
	136
	137	/* Write others permission */
	138	#if !defined(S_IWOTH)
	139	# define S_IWOTH 0
	140	#endif
	141
	142	/* Execute others permission */
	143	#if !defined(S_IXOTH)
	144	# define S_IXOTH 0
	145	#endif
	146
	147	/* Maximum length of file name */
	148	#if !defined(PATH_MAX)
	149	# define PATH_MAX MAX_PATH
	150	#endif
	151	#if !defined(FILENAME_MAX)
	152	# define FILENAME_MAX MAX_PATH
	153	#endif
	154	#if !defined(NAME_MAX)
	155	# define NAME_MAX FILENAME_MAX
	156	#endif
	157
	158	/* File type flags for d_type */
	159	#define DT_UNKNOWN 0
	160	#define DT_REG S_IFREG
	161	#define DT_DIR S_IFDIR
	162	#define DT_FIFO S_IFIFO
	163	#define DT_SOCK S_IFSOCK
	164	#define DT_CHR S_IFCHR
	165	#define DT_BLK S_IFBLK
	166	#define DT_LNK S_IFLNK
	167
	168	/* Macros for converting between st_mode and d_type */
	169	#define IFTODT(mode) ((mode) & S_IFMT)
	170	#define DTTOIF(type) (type)
	171
	172	/*
	173	* File type macros. Note that block devices, sockets and links cannot be
	174	* distinguished on Windows and the macros S_ISBLK, S_ISSOCK and S_ISLNK are
	175	* only defined for compatibility. These macros should always return false
	176	* on Windows.
	177	*/
	178	#if !defined(S_ISFIFO)
	179	# define S_ISFIFO(mode) (((mode) & S_IFMT) == S_IFIFO)
	180	#endif
	181	#if !defined(S_ISDIR)
	182	# define S_ISDIR(mode) (((mode) & S_IFMT) == S_IFDIR)
	183	#endif
	184	#if !defined(S_ISREG)
	185	# define S_ISREG(mode) (((mode) & S_IFMT) == S_IFREG)
	186	#endif
	187	#if !defined(S_ISLNK)
	188	# define S_ISLNK(mode) (((mode) & S_IFMT) == S_IFLNK)
	189	#endif
	190	#if !defined(S_ISSOCK)
	191	# define S_ISSOCK(mode) (((mode) & S_IFMT) == S_IFSOCK)
	192	#endif
	193	#if !defined(S_ISCHR)
	194	# define S_ISCHR(mode) (((mode) & S_IFMT) == S_IFCHR)
	195	#endif
	196	#if !defined(S_ISBLK)
	197	# define S_ISBLK(mode) (((mode) & S_IFMT) == S_IFBLK)
	198	#endif
	199
	200	/* Return the exact length of d_namlen without zero terminator */
	201	#define _D_EXACT_NAMLEN(p) ((p)->d_namlen)
	202
	203	/* Return number of bytes needed to store d_namlen */
	204	#define _D_ALLOC_NAMLEN(p) (PATH_MAX)
	205
	206
	207	#ifdef __cplusplus
	208	extern "C" {
	209	#endif
	210
	211
	212	/* Wide-character version */
	213	struct _wdirent {
	214	/* Always zero */
	215	long d_ino;
	216
	217	/* Structure size */
	218	unsigned short d_reclen;
	219
	220	/* Length of name without \0 */
	221	size_t d_namlen;
	222
	223	/* File type */
	224	int d_type;
	225
	226	/* File name */
	227	// cppcheck-suppress *
	228	wchar_t d_name[PATH_MAX];
	229	};
	230	typedef struct _wdirent _wdirent;
	231
	232	struct _WDIR {
	233	/* Current directory entry */
	234	struct _wdirent ent;
	235
	236	/* Private file data */
	237	WIN32_FIND_DATAW data;
	238
	239	/* True if data is valid */
	240	int cached;
	241
	242	/* Win32 search handle */
	243	HANDLE handle;
	244
	245	/* Initial directory name */
	246	wchar_t *patt;
	247	};
	248	typedef struct _WDIR _WDIR;
	249
	250	static _WDIR _wopendir (const wchar_t dirname);
	251	static struct _wdirent _wreaddir (_WDIR dirp);
	252	static int _wclosedir (_WDIR *dirp);
	253	static void _wrewinddir (_WDIR* dirp);
	254
	255
	256	/* For compatibility with Symbian */
	257	#define wdirent _wdirent
	258	#define WDIR _WDIR
	259	#define wopendir _wopendir
	260	#define wreaddir _wreaddir
	261	#define wclosedir _wclosedir
	262	#define wrewinddir _wrewinddir
	263
	264
	265	/* Multi-byte character versions */
	266	struct dirent {
	267	/* Always zero */
	268	long d_ino;
	269
	270	/* Structure size */
	271	unsigned short d_reclen;
	272
	273	/* Length of name without \0 */
	274	size_t d_namlen;
	275
	276	/* File type */
	277	int d_type;
	278
	279	/* File name */
	280	// cppcheck-suppress *
	281	char d_name[PATH_MAX];
	282	};
	283	typedef struct dirent dirent;
	284
	285	struct DIR {
	286	struct dirent ent;
	287	struct _WDIR *wdirp;
	288	};
	289	typedef struct DIR DIR;
	290
	291	static DIR opendir (const char dirname);
	292	static struct dirent readdir (DIR dirp);
	293	static int closedir (DIR *dirp);
	294	static void rewinddir (DIR* dirp);
	295
	296
	297	/* Internal utility functions */
	298	static WIN32_FIND_DATAW dirent_first (_WDIR dirp);
	299	static WIN32_FIND_DATAW dirent_next (_WDIR dirp);
	300
	301	static int dirent_mbstowcs_s(
	302	size_t *pReturnValue,
	303	wchar_t *wcstr,
	304	size_t sizeInWords,
	305	const char *mbstr,
	306	size_t count);
	307
	308	static int dirent_wcstombs_s(
	309	size_t *pReturnValue,
	310	char *mbstr,
	311	size_t sizeInBytes,
	312	const wchar_t *wcstr,
	313	size_t count);
	314
	315	static void dirent_set_errno (int error);
	316
	317	/*
	318	* Open directory stream DIRNAME for read and return a pointer to the
	319	* internal working area that is used to retrieve individual directory
	320	* entries.
	321	*/
	322	static _WDIR*
	323	_wopendir(
	324	const wchar_t *dirname)
	325	{
	326	_WDIR *dirp = NULL;
	327	int error;
	328
	329	/* Must have directory name */
	330	if (dirname == NULL \|\| dirname[0] == '\0') {
	331	dirent_set_errno (ENOENT);
	332	return NULL;
	333	}
	334
	335	/* Allocate new _WDIR structure */
	336	dirp = (_WDIR*) malloc (sizeof (struct _WDIR));
	337	if (dirp != NULL) {
	338	DWORD n;
	339
	340	/* Reset _WDIR structure */
	341	dirp->handle = INVALID_HANDLE_VALUE;
	342	dirp->patt = NULL;
	343	dirp->cached = 0;
	344
	345	/* Compute the length of full path plus zero terminator
	346	*
	347	* Note that on WinRT there's no way to convert relative paths
	348	* into absolute paths, so just assume its an absolute path.
	349	*/
	350	# if defined(WINAPI_FAMILY) && (WINAPI_FAMILY == WINAPI_FAMILY_PHONE_APP)
	351	n = wcslen(dirname);
	352	# else
	353	n = GetFullPathNameW (dirname, 0, NULL, NULL);
	354	# endif
	355
	356	/* Allocate room for absolute directory name and search pattern */
	357	dirp->patt = (wchar_t) malloc (sizeof (wchar_t) n + 16);
	358	if (dirp->patt) {
	359
	360	/*
	361	* Convert relative directory name to an absolute one. This
	362	* allows rewinddir() to function correctly even when current
	363	* working directory is changed between opendir() and rewinddir().
	364	*
	365	* Note that on WinRT there's no way to convert relative paths
	366	* into absolute paths, so just assume its an absolute path.
	367	*/
	368	# if defined(WINAPI_FAMILY) && (WINAPI_FAMILY == WINAPI_FAMILY_PHONE_APP)
	369	wcsncpy_s(dirp->patt, n+1, dirname, n);
	370	# else
	371	n = GetFullPathNameW (dirname, n, dirp->patt, NULL);
	372	# endif
	373	if (n > 0) {
	374	wchar_t *p;
	375
	376	/* Append search pattern \* to the directory name */
	377	p = dirp->patt + n;
	378	if (dirp->patt < p) {
	379	switch (p[-1]) {
	380	case '\\':
	381	case '/':
	382	case ':':
	383	/* Directory ends in path separator, e.g. c:\temp\ */
	384	/NOP/;
	385	break;
	386
	387	default:
	388	/* Directory name doesn't end in path separator */
	389	*p++ = '\\';
	390	}
	391	}
	392	p++ = '';
	393	*p = '\0';
	394
	395	/* Open directory stream and retrieve the first entry */
	396	if (dirent_first (dirp)) {
	397	/* Directory stream opened successfully */
	398	error = 0;
	399	} else {
	400	/* Cannot retrieve first entry */
	401	error = 1;
	402	dirent_set_errno (ENOENT);
	403	}
	404
	405	} else {
	406	/* Cannot retrieve full path name */
	407	dirent_set_errno (ENOENT);
	408	error = 1;
	409	}
	410
	411	} else {
	412	/* Cannot allocate memory for search pattern */
	413	error = 1;
	414	}
	415
	416	} else {
	417	/* Cannot allocate _WDIR structure */
	418	error = 1;
	419	}
	420
	421	/* Clean up in case of error */
	422	if (error && dirp) {
	423	_wclosedir (dirp);
	424	dirp = NULL;
	425	}
	426
	427	return dirp;
	428	}
	429
	430	/*
	431	* Read next directory entry. The directory entry is returned in dirent
	432	* structure in the d_name field. Individual directory entries returned by
	433	* this function include regular files, sub-directories, pseudo-directories
	434	* "." and ".." as well as volume labels, hidden files and system files.
	435	*/
	436	static struct _wdirent*
	437	_wreaddir(
	438	_WDIR *dirp)
	439	{
	440	WIN32_FIND_DATAW *datap;
	441	struct _wdirent *entp;
	442
	443	/* Read next directory entry */
	444	datap = dirent_next (dirp);
	445	if (datap) {
	446	size_t n;
	447	DWORD attr;
	448
	449	/* Pointer to directory entry to return */
	450	entp = &dirp->ent;
	451
	452	/*
	453	* Copy file name as wide-character string. If the file name is too
	454	* long to fit in to the destination buffer, then truncate file name
	455	* to PATH_MAX characters and zero-terminate the buffer.
	456	*/
	457	n = 0;
	458	// cppcheck-suppress *
	459	while (n + 1 < PATH_MAX && datap->cFileName[n] != 0) {
	460	entp->d_name[n] = datap->cFileName[n];
	461	n++;
	462	}
	463	dirp->ent.d_name[n] = 0;
	464
	465	/* Length of file name excluding zero terminator */
	466	entp->d_namlen = n;
	467
	468	/* File type */
	469	attr = datap->dwFileAttributes;
	470	// cppcheck-suppress *
	471	if ((attr & FILE_ATTRIBUTE_DEVICE) != 0) {
	472	// cppcheck-suppress *
	473	entp->d_type = DT_CHR;
	474	} else if ((attr & FILE_ATTRIBUTE_DIRECTORY) != 0) {
	475	// cppcheck-suppress *
	476	entp->d_type = DT_DIR;
	477	} else {
	478	// cppcheck-suppress *
	479	entp->d_type = DT_REG;
	480	}
	481
	482	/* Reset dummy fields */
	483	entp->d_ino = 0;
	484	entp->d_reclen = sizeof (struct _wdirent);
	485
	486	} else {
	487
	488	/* Last directory entry read */
	489	entp = NULL;
	490
	491	}
	492
	493	return entp;
	494	}
	495
	496	/*
	497	* Close directory stream opened by opendir() function. This invalidates the
	498	* DIR structure as well as any directory entry read previously by
	499	* _wreaddir().
	500	*/
	501	static int
	502	_wclosedir(
	503	_WDIR *dirp)
	504	{
	505	int ok;
	506	if (dirp) {
	507
	508	/* Release search handle */
	509	if (dirp->handle != INVALID_HANDLE_VALUE) {
	510	FindClose (dirp->handle);
	511	dirp->handle = INVALID_HANDLE_VALUE;
	512	}
	513
	514	/* Release search pattern */
	515	if (dirp->patt) {
	516	free (dirp->patt);
	517	dirp->patt = NULL;
	518	}
	519
	520	/* Release directory structure */
	521	free (dirp);
	522	ok = /success/0;
	523
	524	} else {
	525	/* Invalid directory stream */
	526	dirent_set_errno (EBADF);
	527	ok = /failure/-1;
	528	}
	529	return ok;
	530	}
	531
	532	/*
	533	* Rewind directory stream such that _wreaddir() returns the very first
	534	* file name again.
	535	*/
	536	static void
	537	_wrewinddir(
	538	_WDIR* dirp)
	539	{
	540	if (dirp) {
	541	/* Release existing search handle */
	542	if (dirp->handle != INVALID_HANDLE_VALUE) {
	543	FindClose (dirp->handle);
	544	}
	545
	546	/* Open new search handle */
	547	dirent_first (dirp);
	548	}
	549	}
	550
	551	/* Get first directory entry (internal) */
	552	static WIN32_FIND_DATAW*
	553	dirent_first(
	554	_WDIR *dirp)
	555	{
	556	WIN32_FIND_DATAW *datap;
	557
	558	/* Open directory and retrieve the first entry */
	559	dirp->handle = FindFirstFileExW(
	560	dirp->patt, FindExInfoStandard, &dirp->data,
	561	FindExSearchNameMatch, NULL, 0);
	562	if (dirp->handle != INVALID_HANDLE_VALUE) {
	563
	564	/* a directory entry is now waiting in memory */
	565	datap = &dirp->data;
	566	dirp->cached = 1;
	567
	568	} else {
	569
	570	/* Failed to re-open directory: no directory entry in memory */
	571	dirp->cached = 0;
	572	datap = NULL;
	573
	574	}
	575	return datap;
	576	}
	577
	578	/* Get next directory entry (internal) */
	579	static WIN32_FIND_DATAW*
	580	dirent_next(
	581	_WDIR *dirp)
	582	{
	583	WIN32_FIND_DATAW *p;
	584
	585	/* Get next directory entry */
	586	if (dirp->cached != 0) {
	587
	588	/* A valid directory entry already in memory */
	589	p = &dirp->data;
	590	dirp->cached = 0;
	591
	592	} else if (dirp->handle != INVALID_HANDLE_VALUE) {
	593
	594	/* Get the next directory entry from stream */
	595	if (FindNextFileW (dirp->handle, &dirp->data) != FALSE) {
	596	/* Got a file */
	597	p = &dirp->data;
	598	} else {
	599	/* The very last entry has been processed or an error occured */
	600	FindClose (dirp->handle);
	601	dirp->handle = INVALID_HANDLE_VALUE;
	602	p = NULL;
	603	}
	604
	605	} else {
	606
	607	/* End of directory stream reached */
	608	p = NULL;
	609
	610	}
	611
	612	return p;
	613	}
	614
	615	/*
	616	* Open directory stream using plain old C-string.
	617	*/
	618	static DIR*
	619	opendir(
	620	const char *dirname)
	621	{
	622	struct DIR *dirp;
	623	int error;
	624
	625	/* Must have directory name */
	626	if (dirname == NULL \|\| dirname[0] == '\0') {
	627	dirent_set_errno (ENOENT);
	628	return NULL;
	629	}
	630
	631	/* Allocate memory for DIR structure */
	632	dirp = (DIR*) malloc (sizeof (struct DIR));
	633	if (dirp) {
	634	// cppcheck-suppress *
	635	wchar_t wname[PATH_MAX];
	636	size_t n;
	637
	638	/* Convert directory name to wide-character string */
	639	// cppcheck-suppress *
	640	error = dirent_mbstowcs_s (&n, wname, PATH_MAX, dirname, PATH_MAX);
	641	if (!error) {
	642
	643	/* Open directory stream using wide-character name */
	644	dirp->wdirp = _wopendir (wname);
	645	if (dirp->wdirp) {
	646	/* Directory stream opened */
	647	error = 0;
	648	} else {
	649	/* Failed to open directory stream */
	650	error = 1;
	651	}
	652
	653	} else {
	654	/*
	655	* Cannot convert file name to wide-character string. This
	656	* occurs if the string contains invalid multi-byte sequences or
	657	* the output buffer is too small to contain the resulting
	658	* string.
	659	*/
	660	error = 1;
	661	}
	662
	663	} else {
	664	/* Cannot allocate DIR structure */
	665	error = 1;
	666	}
	667
	668	/* Clean up in case of error */
	669	if (error && dirp) {
	670	free (dirp);
	671	dirp = NULL;
	672	}
	673
	674	return dirp;
	675	}
	676
	677	/*
	678	* Read next directory entry.
	679	*
	680	* When working with text consoles, please note that file names returned by
	681	* readdir() are represented in the default ANSI code page while any output to
	682	* console is typically formatted on another code page. Thus, non-ASCII
	683	* characters in file names will not usually display correctly on console. The
	684	* problem can be fixed in two ways: (1) change the character set of console
	685	* to 1252 using chcp utility and use Lucida Console font, or (2) use
	686	* _cprintf function when writing to console. The _cprinf() will re-encode
	687	* ANSI strings to the console code page so many non-ASCII characters will
	688	* display correcly.
	689	*/
	690	static struct dirent*
	691	readdir(
	692	DIR *dirp)
	693	{
	694	WIN32_FIND_DATAW *datap;
	695	struct dirent *entp;
	696
	697	/* Read next directory entry */
	698	datap = dirent_next (dirp->wdirp);
	699	if (datap) {
	700	size_t n;
	701	int error;
	702
	703	/* Attempt to convert file name to multi-byte string */
	704	error = dirent_wcstombs_s(
	705	// cppcheck-suppress *
	706	&n, dirp->ent.d_name, PATH_MAX, datap->cFileName, PATH_MAX);
	707
	708	/*
	709	* If the file name cannot be represented by a multi-byte string,
	710	* then attempt to use old 8+3 file name. This allows traditional
	711	* Unix-code to access some file names despite of unicode
	712	* characters, although file names may seem unfamiliar to the user.
	713	*
	714	* Be ware that the code below cannot come up with a short file
	715	* name unless the file system provides one. At least
	716	* VirtualBox shared folders fail to do this.
	717	*/
	718	if (error && datap->cAlternateFileName[0] != '\0') {
	719	error = dirent_wcstombs_s(
	720	// cppcheck-suppress *
	721	&n, dirp->ent.d_name, PATH_MAX,
	722	// cppcheck-suppress *
	723	datap->cAlternateFileName, PATH_MAX);
	724	}
	725
	726	if (!error) {
	727	DWORD attr;
	728
	729	/* Initialize directory entry for return */
	730	entp = &dirp->ent;
	731
	732	/* Length of file name excluding zero terminator */
	733	entp->d_namlen = n - 1;
	734
	735	/* File attributes */
	736	attr = datap->dwFileAttributes;
	737	// cppcheck-suppress *
	738	if ((attr & FILE_ATTRIBUTE_DEVICE) != 0) {
	739	// cppcheck-suppress *
	740	entp->d_type = DT_CHR;
	741	} else if ((attr & FILE_ATTRIBUTE_DIRECTORY) != 0) {
	742	// cppcheck-suppress *
	743	entp->d_type = DT_DIR;
	744	} else {
	745	// cppcheck-suppress *
	746	entp->d_type = DT_REG;
	747	}
	748
	749	/* Reset dummy fields */
	750	entp->d_ino = 0;
	751	entp->d_reclen = sizeof (struct dirent);
	752
	753	} else {
	754	/*
	755	* Cannot convert file name to multi-byte string so construct
	756	* an errornous directory entry and return that. Note that
	757	* we cannot return NULL as that would stop the processing
	758	* of directory entries completely.
	759	*/
	760	entp = &dirp->ent;
	761	entp->d_name[0] = '?';
	762	entp->d_name[1] = '\0';
	763	entp->d_namlen = 1;
	764	entp->d_type = DT_UNKNOWN;
	765	entp->d_ino = 0;
	766	entp->d_reclen = 0;
	767	}
	768
	769	} else {
	770	/* No more directory entries */
	771	entp = NULL;
	772	}
	773
	774	return entp;
	775	}
	776
	777	/*
	778	* Close directory stream.
	779	*/
	780	static int
	781	closedir(
	782	DIR *dirp)
	783	{
	784	int ok;
	785	if (dirp) {
	786
	787	/* Close wide-character directory stream */
	788	ok = _wclosedir (dirp->wdirp);
	789	dirp->wdirp = NULL;
	790
	791	/* Release multi-byte character version */
	792	free (dirp);
	793
	794	} else {
	795
	796	/* Invalid directory stream */
	797	dirent_set_errno (EBADF);
	798	ok = /failure/-1;
	799
	800	}
	801	return ok;
	802	}
	803
	804	/*
	805	* Rewind directory stream to beginning.
	806	*/
	807	static void
	808	rewinddir(
	809	DIR* dirp)
	810	{
	811	/* Rewind wide-character string directory stream */
	812	_wrewinddir (dirp->wdirp);
	813	}
	814
	815	/* Convert multi-byte string to wide character string */
	816	static int
	817	dirent_mbstowcs_s(
	818	size_t *pReturnValue,
	819	wchar_t *wcstr,
	820	size_t sizeInWords,
	821	const char *mbstr,
	822	size_t count)
	823	{
	824	int error;
	825
	826	#if defined(_MSC_VER) && _MSC_VER >= 1400
	827
	828	/* Microsoft Visual Studio 2005 or later */
	829	error = mbstowcs_s (pReturnValue, wcstr, sizeInWords, mbstr, count);
	830
	831	#else
	832
	833	/* Older Visual Studio or non-Microsoft compiler */
	834	size_t n;
	835
	836	/* Convert to wide-character string (or count characters) */
	837	n = mbstowcs (wcstr, mbstr, sizeInWords);
	838	if (!wcstr \|\| n < count) {
	839
	840	/* Zero-terminate output buffer */
	841	if (wcstr && sizeInWords) {
	842	if (n >= sizeInWords) {
	843	n = sizeInWords - 1;
	844	}
	845	wcstr[n] = 0;
	846	}
	847
	848	/* Length of resuting multi-byte string WITH zero terminator */
	849	if (pReturnValue) {
	850	*pReturnValue = n + 1;
	851	}
	852
	853	/* Success */
	854	error = 0;
	855
	856	} else {
	857
	858	/* Could not convert string */
	859	error = 1;
	860
	861	}
	862
	863	#endif
	864
	865	return error;
	866	}
	867
	868	/* Convert wide-character string to multi-byte string */
	869	static int
	870	dirent_wcstombs_s(
	871	size_t *pReturnValue,
	872	char *mbstr,
	873	size_t sizeInBytes, /* max size of mbstr */
	874	const wchar_t *wcstr,
	875	size_t count)
	876	{
	877	int error;
	878
	879	#if defined(_MSC_VER) && _MSC_VER >= 1400
	880
	881	/* Microsoft Visual Studio 2005 or later */
	882	error = wcstombs_s (pReturnValue, mbstr, sizeInBytes, wcstr, count);
	883
	884	#else
	885
	886	/* Older Visual Studio or non-Microsoft compiler */
	887	size_t n;
	888
	889	/* Convert to multi-byte string (or count the number of bytes needed) */
	890	n = wcstombs (mbstr, wcstr, sizeInBytes);
	891	if (!mbstr \|\| n < count) {
	892
	893	/* Zero-terminate output buffer */
	894	if (mbstr && sizeInBytes) {
	895	if (n >= sizeInBytes) {
	896	n = sizeInBytes - 1;
	897	}
	898	mbstr[n] = '\0';
	899	}
	900
	901	/* Length of resulting multi-bytes string WITH zero-terminator */
	902	if (pReturnValue) {
	903	*pReturnValue = n + 1;
	904	}
	905
	906	/* Success */
	907	error = 0;
	908
	909	} else {
	910
	911	/* Cannot convert string */
	912	error = 1;
	913
	914	}
	915
	916	#endif
	917
	918	return error;
	919	}
	920
	921	/* Set errno variable */
	922	static void
	923	dirent_set_errno(
	924	int error)
	925	{
	926	#if defined(_MSC_VER) && _MSC_VER >= 1400
	927
	928	/* Microsoft Visual Studio 2005 and later */
	929	_set_errno (error);
	930
	931	#else
	932
	933	/* Non-Microsoft compiler or older Microsoft compiler */
	934	errno = error;
	935
	936	#endif
	937	}
	938
	939
	940	#ifdef __cplusplus
	941	}
	942	#endif
	943	#endif /DIRENT_H/
	944

+2

-2

tools/code_check.sh less more

52	52	CPPCHECK_FILES=`find $CHECK_DIRS -name ".cc" -o -name ".hh"`
53	53	fi
54	54	CPPLINT_FILES=`\
55		find $CHECK_DIRS -name ".cc" -o -name ".hh" -o -name ".c" -o -name ".h"`
	55	find $CHECK_DIRS -name ".cc" -o -name ".hh"`
56	56	fi
57	57
58	58	SUPPRESS=/tmp/cpp_check.suppress

67	67	touch $SUPPRESS
68	68
69	69	#cppcheck
70		CPPCHECK_BASE="cppcheck -q --suppressions-list=$SUPPRESS --inline-suppr"
	70	CPPCHECK_BASE="cppcheck --force -q --suppressions-list=$SUPPRESS --inline-suppr"
71	71	if [ $CPPCHECK_LT_157 -eq 0 ]; then
72	72	# use --language argument if 1.57 or greater (issue #907)
73	73	CPPCHECK_BASE="$CPPCHECK_BASE --language=c++"

+13

-0

tools/cpplint.py less more

302	302	'random',
303	303	'ratio',
304	304	'regex',
	305	'scoped_allocator',
305	306	'set',
306	307	'sstream',
307	308	'stack',

320	321	'utility',
321	322	'valarray',
322	323	'vector',
	324	# 17.6.1.2 C++14 headers
	325	'shared_mutex',
	326	# 17.6.1.2 C++17 headers
	327	'any',
	328	'charconv',
	329	'codecvt',
	330	'execution',
	331	'filesystem',
	332	'memory_resource',
	333	'optional',
	334	'string_view',
	335	'variant',
323	336	# 17.6.1.2 C++ headers for C library facilities
324	337	'cassert',
325	338	'ccomplex',

+83

-4

tutorials/installation.md less more

1	1
2	2	Next Tutorial: \ref cppgetstarted
3	3
4		## Overview
	4	# Overview
5	5
6	6	This tutorial describes how to install Ignition Math on Linux, Mac OS X and
7	7	Windows via either a binary distribution or from source.
8	8
9		## Ubuntu Linux
	9	[Install](#install)
	10
	11	* [Binary Install](#binary-install)
	12
	13	* [Source Install](#source-install)
	14
	15	* [Prerequisites](#prerequisites)
	16
	17	* [Building from Source](#building-from-source)
	18
	19	# Install
	20
	21	We recommend following the [Binary Install](#binary-install) instructions to get up and running as quickly and painlessly as possible.
	22
	23	The [Source Install](#source-install) instructions should be used if you need the very latest software improvements, you need to modify the code, or you plan to make a contribution.
	24
	25	## Binary Install
	26
	27	### Ubuntu Linux
10	28
11	29	Setup your computer to accept software from
12	30	packages.osrfoundation.org:

24	42	Install Ignition Math:
25	43
26	44	```
27		sudo apt-get update
28		sudo apt-get install libignition-math6-dev
	45	sudo apt install libignition-math<#>-dev
29	46	```
	47
	48	Be sure to replace `<#>` with a number value, such as 1 or 2, depending on
	49	which version you need.
	50
	51	## Source Install
	52
	53	Source installation can be performed in UNIX systems by first installing the
	54	necessary prerequisites followed by building from source.
	55
	56	### Prerequisites
	57
	58	The optional Eigen component of Ignition Math requires:
	59
	60	* [Eigen](http://eigen.tuxfamily.org/index.php?title=Main_Page). Refer to the [Eigen Documentation](http://eigen.tuxfamily.org/index.php?title=Main_Page#Documentation) for installation instructions. On Ubuntu systems, `apt-get` can be used to install Eigen:
	61
	62	```
	63	sudo apt-get install libeigen3-dev
	64	```
	65
	66	The optional Ruby tests of Ignition Math require:
	67
	68	* [Ruby](https://www.ruby-lang.org/). Refer to the [Ruby Documentation](https://www.ruby-lang.org/downloads/) for installation instructions. On Ubuntu systems `apt-get` can be used to install Ubuntu Package `ruby-dev`:
	69
	70	```
	71	sudo apt-get install ruby-dev
	72	```
	73
	74	* [Swig](http://www.swig.org/). Refer to the [Swig Documentation](http://www.swig.org/download.html) for installation instructions. On Ubuntu systems `apt-get` can be used to install Swig:
	75
	76	```
	77	sudo apt-get install swig
	78	```
	79
	80	### Building from source
	81
	82	1. Clone the repository
	83
	84	```
	85	git clone https://github.com/ignitionrobotics/ign-math -b ign-math<#>
	86	```
	87	Be sure to replace `<#>` with a number value, such as 1 or 2, depending on
	88	which version you need.
	89
	90	2. Install dependencies
	91
	92	```
	93	export SYSTEM_VERSION=bionic
	94	sudo apt -y install \
	95	$(sort -u $(find . -iname 'packages-'$SYSTEM_VERSION'.apt' -o -iname 'packages.apt') \| tr '\n' ' ')
	96	```
	97
	98	3. Configure and build
	99
	100	```
	101	cd ign-math; mkdir build; cd build; cmake ..; make
	102	```
	103
	104	4. Optionally, install Ignition Math
	105
	106	```
	107	sudo make install
	108	```