# Gazebo Math : Math classes and functions for robot applications
**Maintainer:** nate AT openrobotics DOT org
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Gazebo Math, a component of [Gazebo](https://gazebosim.org), provides general purpose math
classes and functions designed for robotic applications.
# Table of Contents
[Features](#features)
[Install](#install)
[Usage](#usage)
[Folder Structure](#folder-structure)
[Code of Conduct](#code-of-conduct)
[Contributing](#code-of-contributing)
[Versioning](#versioning)
[License](#license)
# Features
Gazebo 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 Gazebo
Math types.
# Install
See the [installation tutorial](https://gazebosim.org/api/math/6.8/install.html).
# Usage
Please refer to the [examples directory](https://github.com/gazebosim/gz-math/raw/ign-math6/examples/).
# Folder Structure
Refer to the following table for information about important directories and files in this repository.
```
gz-math
├── examples Example programs.
├── include/ignition/math Header files.
├── src Source files and unit tests.
│ └── graph Source files for the graph classes.
│ └── python SWIG Python interfaces.
│ └── ruby SWIG Ruby interfaces.
├── 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 the
[contributing guide](https://gazebosim.org/docs/all/contributing).
# Code of Conduct
Please see
[CODE_OF_CONDUCT.md](https://github.com/gazebosim/gz-sim/blob/main/CODE_OF_CONDUCT.md).
# Versioning
This library uses [Semantic Versioning](https://semver.org/). Additionally, this library is part of the [Gazebo project](https://gazebosim.org) which periodically releases a versioned set of compatible and complimentary libraries. See the [Gazebo website](https://gazebosim.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://github.com/gazebosim/gz-math/blob/main/LICENSE) file.