# Ignition Math : Math classes and functions for robot applications
**Maintainer:** nate AT openrobotics DOT org
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[](https://community.gazebosim.org)
[](https://www.apache.org/licenses/LICENSE-2.0)
Build | Status
-- | --
Test coverage | [](https://codecov.io/bb/ignitionrobotics/ign-math)
Ubuntu Bionic | [](https://build.osrfoundation.org/job/ignition_math-ci-default-bionic-amd64)
Homebrew | [](https://build.osrfoundation.org/job/ignition_math-ci-default-homebrew-amd64)
Windows | [](https://build.osrfoundation.org/job/ignition_math-ci-default-windows7-amd64)
Ignition Math, a component of [Ignition
Robotics](https://ignitionrobotics.org), provides general purpose math
classes and functions designed for robotic applications.
# Table of Contents
[Features](#markdown-header-features)
[Install](#markdown-header-install)
* [Binary Install](#markdown-header-binary-install)
* [Source Install](#markdown-header-source-install)
* [Prerequisites](#markdown-header-prerequisites)
* [Building from Source](#markdown-header-building-from-source)
[Usage](#markdown-header-usage)
[Documentation](#markdown-header-documentation)
[Testing](#markdown-header-testing)
[Folder Structure](#markdown-header-folder-structure)
[Code of Conduct](#markdown-header-code-of-conduct)
[Contributing](#markdown-header-code-of-contributing)
[Versioning](#markdown-header-versioning)
[License](#markdown-header-license)
# Features
Ignition Math provides a wide range of functionality, including:
* Type-templated pose, matrix, vector, and quaternion classes.
* Shape representations along with operators to compute volume, density, size and other properties.
* Classes for material properties, mass, inertial, temperature, [PID](https://en.wikipedia.org/wiki/PID_controller), kmeans, spherical coordinates, and filtering.
* Optional Eigen component that converts between a few Eigen and Ignition
Math types.
# Install
We recommend following the [Binary Install](#markdown-header-binary-install) instructions to get up and running as quickly and painlessly as possible.
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.
## Binary Install
On Ubuntu systems, `apt-get` can be used to install `ignition-math`:
```
sudo apt install libignition-math<#>-dev
```
Be sure to replace `<#>` with a number value, such as 1 or 2, depending on
which version you need.
## Source Install
Source installation can be performed in UNIX systems by first installing the
necessary prerequisites followed by building from source.
### Prerequisites
The optional Eigen component of Ignition Math requires:
* [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:
```
sudo apt-get install libeigen3-dev
```
### Building from source
1. Clone the repository
```
hg clone https://bitbucket.org/ignitionrobotics/ign-math
```
2. Configure and build
```
cd ign-math; mkdir build; cd build; cmake ..; make
```
3. Optionally, install Ignition Math
```
sudo make install
```
# Usage
Please refer to the [examples directory](https://bitbucket.org/ignitionrobotics/ign-math/raw/default/examples/?at=default).
# Documentation
API and tutorials can be found at [https://ignitionrobotics.org/libs/math](https://ignitionrobotics.org/libs/math).
You can also generate the documentation from a clone of this repository by following these steps.
1. You will need Doxygen. On Ubuntu Doxygen can be installed using
```
sudo apt-get install doxygen
```
2. Clone the repository
```
hg clone https://bitbucket.org/ignitionrobotics/ign-math
```
3. Configure and build the documentation.
```
cd ign-math; mkdir build; cd build; cmake ../; make doc
```
4. View the documentation by running the following command from the build directory.
```
firefox doxygen/html/index.html
```
# Testing
Follow these steps to run tests and static code analysis in your clone of this repository.
1. Follow the [source install instruction](#markdown-header-source-install).
2. Run tests.
```
make test
```
3. Static code checker.
```
make codecheck
```
# Folder Structure
Refer to the following table for information about important directories and files in this repository.
```
ign-math
├── examples Example programs.
├── include/ignition/math Header files.
├── src Source files and unit tests.
│ └── graph Source files for the graph classes.
├── eigen3 Files for Eigen component.
├── test
│ ├── integration Integration tests.
│ ├── performance Performance tests.
│ └── regression Regression tests.
├── tutorials Tutorials, written in markdown.
├── Changelog.md Changelog.
└── CMakeLists.txt CMake build script.
```
# Contributing
Please see
[CONTRIBUTING.md](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/406665896aa40bb42f14cf61d48b3d94f2fc5dd8/CONTRIBUTING.md?at=default&fileviewer=file-view-default).
# Code of Conduct
Please see
[CODE_OF_CONDUCT.md](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/406665896aa40bb42f14cf61d48b3d94f2fc5dd8/CODE_OF_CONDUCT.md?at=default&fileviewer=file-view-default).
# Versioning
This library uses [Semantic Versioning](https://semver.org/). Additionally, this library is part of the [Ignition Robotics project](https://ignitionrobotics.org) which periodically releases a versioned set of compatible and complimentary libraries. See the [Ignition Robotics website](https://ignitionrobotics.org) for version and release information.
# License
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.