common_lib::maths Namespace Reference

Classes
struct	AngleAndNorms
	structure to store the angle formed between two vectors and their norms More...

Typedefs
using	TwoDVector = common_lib::structures::Position

Functions
AngleAndNorms	angle_and_norms (const TwoDVector &vector1, const TwoDVector &vector2)
	Function used to calculate the angle between two vectors and their norms.
void	copy_eigen_sparse_matrix (const Eigen::SparseMatrix< float > &original, Eigen::SparseMatrix< float > &copy)
double	normalize_angle (double angle)
	Function to keep angle in [-Pi, Pi[ radians.
double	get_wheel_velocity_from_rpm (const double rpm, const double wheel_diameter)
	Function to get the translational velocity of a wheel from rpm and wheel diameter.
Eigen::Matrix2d	get_rotation_matrix (const double angle)
	Function to get the rotation matrix for a given angle.
Eigen::Vector2d	cartesian_to_cylindrical (const Eigen::Vector2d &cartesian)
	Function to convert cartesian coordinates to cylindrical coordinates.
Eigen::VectorXd	global_to_local_coordinates (const Eigen::Vector3d &local_reference_frame, const Eigen::VectorXd &global_points)
	Transform points from a global reference frame to a local reference frame.
Eigen::VectorXd	local_to_global_coordinates (const Eigen::Vector3d &local_reference_frame, const Eigen::VectorXd &local_points)
	Transform points from a local reference frame to a global reference frame.

Typedef Documentation

TwoDVector

using common_lib::maths::TwoDVector = typedef common_lib::structures::Position

Definition at line 10 of file angle_and_norms.hpp.

Function Documentation

angle_and_norms()

common_lib::maths::AngleAndNorms common_lib::maths::angle_and_norms	(	const TwoDVector &	vector1,
		const TwoDVector &	vector2
	)

Function used to calculate the angle between two vectors and their norms.

Parameters

vector1	2d vector represented by a pair of doubles
vector2	2d vector represented by a pair of doubles

Returns

double

Definition at line 4 of file angle_and_norms.cpp.

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cartesian_to_cylindrical()

Eigen::Vector2d common_lib::maths::cartesian_to_cylindrical

(

const Eigen::Vector2d &

cartesian

)

Function to convert cartesian coordinates to cylindrical coordinates.

Parameters

cartesian

Coordinates in cartesian

Returns

Eigen::Vector2d Coordinates in cylindrical [range, angle]

Definition at line 27 of file transformations.cpp.

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copy_eigen_sparse_matrix()

void common_lib::maths::copy_eigen_sparse_matrix	(	const Eigen::SparseMatrix< float > &	original,
		Eigen::SparseMatrix< float > &	copy
	)

Definition at line 4 of file matrixes.cpp.

get_rotation_matrix()

Eigen::Matrix2d common_lib::maths::get_rotation_matrix

(

const double

angle

)

Function to get the rotation matrix for a given angle.

Parameters

angle

Returns

Eigen::Matrix2d

Definition at line 21 of file transformations.cpp.

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get_wheel_velocity_from_rpm()

double common_lib::maths::get_wheel_velocity_from_rpm	(	const double	rpm,
		const double	wheel_diameter
	)

Function to get the translational velocity of a wheel from rpm and wheel diameter.

Definition at line 17 of file transformations.cpp.

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global_to_local_coordinates()

Eigen::VectorXd common_lib::maths::global_to_local_coordinates	(	const Eigen::Vector3d &	local_reference_frame,
		const Eigen::VectorXd &	global_points
	)

Transform points from a global reference frame to a local reference frame.

Parameters

local_reference_frame	coordinates of the local reference frame in the global reference frame [x, y, rotation angle]
global_points	points in the global reference frame in format [x1, y1, x2, y2, ...]

Returns

Eigen::VectorXd points in the local reference frame in format [x1, y1, x2, y2, ...]

Definition at line 33 of file transformations.cpp.

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local_to_global_coordinates()

Eigen::VectorXd common_lib::maths::local_to_global_coordinates	(	const Eigen::Vector3d &	local_reference_frame,
		const Eigen::VectorXd &	local_points
	)

Transform points from a local reference frame to a global reference frame.

Parameters

local_reference_frame	coordinates of the local reference frame in the global reference frame [x, y, rotation angle]
local_points	points in the local reference frame in format [x1, y1, x2, y2, ...]

Returns

Eigen::VectorXd points in the global reference frame in format [x1, y1, x2, y2, ...]

Definition at line 51 of file transformations.cpp.

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normalize_angle()

double common_lib::maths::normalize_angle

(

double

angle

)

Function to keep angle in [-Pi, Pi[ radians.

Parameters

angle

Returns

double

Definition at line 7 of file transformations.cpp.

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