utils Namespace Reference

Utility functions and classes. More...

Classes
struct	CubicHermitePolynomial
	Cubic Hermite polynomial. More...
struct	CubicPolynomial
struct	CubicPolynomial< double >
struct	CubicPolynomialBase
	Cubic polynomial curve. More...
struct	ExponentialMovingAverage
	Exponential Moving Average. More...
struct	HoubaPolynomial
	Hermite polynomial with Overall Uniformly-Bounded Accelerations (HOUBA). More...
struct	LeakyIntegrator
	Leaky integrator. More...
struct	LowPassVelocityFilter
	Compute velocity by finite difference of position measurements, applying a low-pass filter to it. More...
struct	PolynomialBase
	Polynomial function. More...
struct	QuinticHermitePolynomial
	Quintic polynomial with zero velocity and zero acceleration at 0 and 1. More...
struct	QuinticPolynomial
	Quintic polynomial over vectors. More...
struct	QuinticPolynomial< double >
	Quintic polynomial over floating-point numbers. More...
struct	QuinticPolynomialBase
	Quintic polynomial. More...
struct	RetimedPolynomial
	Polynomial whose argument \(s \in [0, 1]\) is retimed to \(t \in [0, T]\) by \( s(t) = t / T \). More...
struct	SE2d
	SE2 transform. More...
struct	StationaryOffsetFilter
	Remove stationary offset from an input signal. More...

Functions
double	clamp (double v, double vMin, double vMax)
	Clamp a value in a given interval. More...
void	clampInPlace (double &v, double vMin, double vMax)
	Clamp a value in a given interval. More...
double	clamp (double v, double vMin, double vMax, const char *label)
	Clamp a value in a given interval, issuing a warning when bounds are hit. More...
void	clampInPlace (double &v, double vMin, double vMax, const char *label)
	Clamp a value in a given interval, issuing a warning when bounds are hit. More...
Eigen::Matrix3d	slerp (const Eigen::Matrix3d &from, const Eigen::Matrix3d &to, double t)
	Spherical linear interpolation between two rotation matrices. More...

Detailed Description

Utility functions and classes.

Function Documentation

double utils::clamp ( double  v, double  vMin, double  vMax  )

inline

Clamp a value in a given interval.

Parameters

v	Value.
vMin	Lower bound.
vMax	Upper bound.

Definition at line 47 of file clamp.h.

double utils::clamp ( double  v, double  vMin, double  vMax, const char *  label  )

inline

Clamp a value in a given interval, issuing a warning when bounds are hit.

Parameters

v	Value.
vMin	Lower bound.
vMax	Upper bound.
label	Name of clamped value.

Definition at line 95 of file clamp.h.

void utils::clampInPlace ( double &  v, double  vMin, double  vMax  )

inline

Clamp a value in a given interval.

Parameters

v	Reference to value.
vMin	Lower bound.
vMax	Upper bound.

Definition at line 72 of file clamp.h.

void utils::clampInPlace ( double &  v, double  vMin, double  vMax, const char *  label  )

inline

Clamp a value in a given interval, issuing a warning when bounds are hit.

Parameters

v	Reference to value.
vMin	Lower bound.
vMax	Upper bound.
label	Name of clamped value.

Definition at line 124 of file clamp.h.

Eigen::Matrix3d utils::slerp ( const Eigen::Matrix3d &  from, const Eigen::Matrix3d &  to, double  t  )

inline

Spherical linear interpolation between two rotation matrices.

Parameters

from	First rotation matrix.
to	Second rotation matrix.
t	Interpolation index.

Returns

R Interpolation between those two matrices.

See https://en.wikipedia.org/wiki/Slerp.

Definition at line 48 of file slerp.h.