Vector and matrices mathematical operations and other utilities

Detailed Description

Collaboration diagram for Vector and matrices mathematical operations and other utilities:

Namespaces
	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.

Files
file	ops_containers.h
	This file implements several operations that operate element-wise on individual or pairs of containers.

Functions
template<class Derived >
const Eigen::MatrixBase< Derived >::AdjointReturnType	mrpt::math::operator~ (const Eigen::MatrixBase< Derived > &m)
	Transpose operator for matrices. More...
template<class Derived >
Eigen::MatrixBase< Derived >::PlainObject	mrpt::math::operator! (const Eigen::MatrixBase< Derived > &m)
	Unary inversion operator. More...
template<class T >
std::ostream &	mrpt::math::operator<< (std::ostream &out, const std::vector< T > &d)
	A template function for printing out the contents of a std::vector variable. More...
template<class T >
std::ostream &	mrpt::math::operator<< (std::ostream &out, std::vector< T > *d)
	A template function for printing out the contents of a std::vector variable. More...
template<typename T , size_t N>
mrpt::utils::CStream &	mrpt::math::operator<< (mrpt::utils::CStream &ostrm, const CArrayNumeric< T, N > &a)
	Binary dump of a CArrayNumeric<T,N> to a stream. More...
template<typename T , size_t N>
mrpt::utils::CStream &	mrpt::math::operator>> (mrpt::utils::CStream &istrm, CArrayNumeric< T, N > &a)
	Binary read of a CArrayNumeric<T,N> from a stream. More...
bool BASE_IMPEXP	mrpt::math::loadVector (utils::CFileStream &f, std::vector< int > &d)
	Loads one row of a text file as a numerical std::vector. More...
bool BASE_IMPEXP	mrpt::math::loadVector (utils::CFileStream &f, std::vector< double > &d)
	Loads one row of a text file as a numerical std::vector. More...
bool BASE_IMPEXP	mrpt::math::isNaN (float f) MRPT_NO_THROWS
	Returns true if the number is NaN. More...
bool BASE_IMPEXP	mrpt::math::isNaN (double f) MRPT_NO_THROWS
	Returns true if the number is NaN. More...
bool BASE_IMPEXP	mrpt::math::isFinite (float f) MRPT_NO_THROWS
	Returns true if the number is non infinity. More...
bool BASE_IMPEXP	mrpt::math::isFinite (double f) MRPT_NO_THROWS
	Returns true if the number is non infinity. More...
void BASE_IMPEXP	mrpt::math::medianFilter (const std::vector< double > &inV, std::vector< double > &outV, const int &winSize, const int &numberOfSigmas=2)
template<typename T , typename VECTOR >
void	mrpt::math::linspace (T first, T last, size_t count, VECTOR &out_vector)
	Generates an equidistant sequence of numbers given the first one, the last one and the desired number of points. More...
template<class T , T STEP>
std::vector< T >	mrpt::math::sequenceStdVec (T first, size_t length)
	Generates a sequence of values [first,first+STEP,first+2*STEP,...]. More...
template<class VEC1 , class VEC2 >
void	mrpt::math::normalize (const VEC1 &v, VEC2 &out_v)
	Normalize a vector, such as its norm is the unity. More...
template<class VECTOR_OF_VECTORS , class VECTORLIKE >
void	mrpt::math::extractColumnFromVectorOfVectors (const size_t colIndex, const VECTOR_OF_VECTORS &data, VECTORLIKE &out_column)
	Extract a column from a vector of vectors, and store it in another vector. More...
uint64_t BASE_IMPEXP	mrpt::math::factorial64 (unsigned int n)
	Computes the factorial of an integer number and returns it as a 64-bit integer number. More...
double BASE_IMPEXP	mrpt::math::factorial (unsigned int n)
	Computes the factorial of an integer number and returns it as a double value (internally it uses logarithms for avoiding overflow). More...
template<class T >
T	mrpt::math::round2up (T val)
	Round up to the nearest power of two of a given number. More...
template<typename EIGEN_VECTOR , typename At , size_t N>
EIGEN_VECTOR &	mrpt::math::loadVector (EIGEN_VECTOR &v, At(&theArray)[N])
	Assignment operator for initializing a std::vector from a C array (The vector will be automatically set to the correct size). More...
template<typename T , typename At , size_t N>
std::vector< T > &	mrpt::math::loadVector (std::vector< T > &v, At(&theArray)[N])
template<size_t N, typename T >
std::vector< T >	mrpt::math::make_vector (const T val1,...)
	A versatile template to build vectors on-the-fly in a style close to MATLAB's v=[a b c d ...] The first argument of the template is the vector length, and the second the type of the numbers. More...
template<class T >
void	mrpt::math::wrapTo2PiInPlace (T &a)
	Modifies the given angle to translate it into the [0,2pi[ range. More...
template<class T >
T	mrpt::math::wrapTo2Pi (T a)
	Modifies the given angle to translate it into the [0,2pi[ range. More...
template<class T >
T	mrpt::math::wrapToPi (T a)
	Modifies the given angle to translate it into the ]-pi,pi] range. More...
template<class T >
void	mrpt::math::wrapToPiInPlace (T &a)
	Modifies the given angle to translate it into the ]-pi,pi] range. More...
template<class VECTOR >
void	mrpt::math::unwrap2PiSequence (VECTOR &x)
	Modify a sequence of angle values such as no consecutive values have a jump larger than PI in absolute value. More...
template<class T >
T	mrpt::math::angDistance (T from, T to)
	Computes the shortest angular increment (or distance) between two planar orientations, such that it is constrained to [-pi,pi] and is correct for any combination of angles (e.g. More...

Operators for binary streaming of MRPT matrices
template<size_t NROWS, size_t NCOLS>
mrpt::utils::CStream &	mrpt::math::operator>> (mrpt::utils::CStream &in, CMatrixFixedNumeric< float, NROWS, NCOLS > &M)
	Read operator from a CStream. More...
template<size_t NROWS, size_t NCOLS>
mrpt::utils::CStream &	mrpt::math::operator>> (mrpt::utils::CStream &in, CMatrixFixedNumeric< double, NROWS, NCOLS > &M)
	Read operator from a CStream. More...
template<size_t NROWS, size_t NCOLS>
mrpt::utils::CStream &	mrpt::math::operator<< (mrpt::utils::CStream &out, const CMatrixFixedNumeric< float, NROWS, NCOLS > &M)
	Write operator for writing into a CStream. More...
template<size_t NROWS, size_t NCOLS>
mrpt::utils::CStream &	mrpt::math::operator<< (mrpt::utils::CStream &out, const CMatrixFixedNumeric< double, NROWS, NCOLS > &M)
	Write operator for writing into a CStream. More...

Operators for text streaming of MRPT matrices
template<typename T , size_t NROWS, size_t NCOLS>
std::ostream &	mrpt::math::operator<< (std::ostream &s, const CMatrixFixedNumeric< T, NROWS, NCOLS > &m)
	Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output. More...
template<typename T >
std::ostream &	mrpt::math::operator<< (std::ostream &s, const CMatrixTemplateNumeric< T > &m)
	Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output. More...

Generic std::vector element-wise operations
template<typename T1 , typename T2 >
std::vector< T1 > &	mrpt::math::operator*= (std::vector< T1 > &a, const std::vector< T2 > &b)
	a*=b (element-wise multiplication) More...
template<typename T1 >
std::vector< T1 > &	mrpt::math::operator*= (std::vector< T1 > &a, const T1 b)
	a*=k (multiplication by a constant) More...
template<typename T1 , typename T2 >
std::vector< T1 >	mrpt::math::operator* (const std::vector< T1 > &a, const std::vector< T2 > &b)
	a*b (element-wise multiplication) More...
template<typename T1 , typename T2 >
std::vector< T1 > &	mrpt::math::operator+= (std::vector< T1 > &a, const std::vector< T2 > &b)
	a+=b (element-wise sum) More...
template<typename T1 >
std::vector< T1 > &	mrpt::math::operator+= (std::vector< T1 > &a, const T1 b)
	a+=b (sum a constant) More...
template<typename T1 , typename T2 >
std::vector< T1 >	mrpt::math::operator+ (const std::vector< T1 > &a, const std::vector< T2 > &b)
	a+b (element-wise sum) More...
template<typename T1 , typename T2 >
std::vector< T1 >	mrpt::math::operator- (const std::vector< T1 > &v1, const std::vector< T2 > &v2)

Function Documentation

angDistance()

template<class T >

T mrpt::math::angDistance ( T  from, T  to  )

inline

Computes the shortest angular increment (or distance) between two planar orientations, such that it is constrained to [-pi,pi] and is correct for any combination of angles (e.g.

near +-pi) Examples: angDistance(0,pi) -> +pi; angDistance(pi,0) -> -pi; angDistance(-3.1,3.1) -> -0.08; angDistance(3.1,-3.1) -> +0.08;

Note

Take care of not instancing this template for integer numbers, since it only works for float, double and long double.

See also

wrapToPi, wrapTo2Pi

Definition at line 91 of file wrap2pi.h.

References M_PI, and mrpt::math::wrapToPiInPlace().

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::PoseDistanceMetric< TNodeSE2 >::distance(), mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(), mrpt::poses::CPoseInterpolatorBase< 3 >::impl_interpolation(), mrpt::nav::PlannerRRT_SE2_TPS::solve(), TEST(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

extractColumnFromVectorOfVectors()

template<class VECTOR_OF_VECTORS , class VECTORLIKE >

void mrpt::math::extractColumnFromVectorOfVectors ( const size_t  colIndex, const VECTOR_OF_VECTORS &  data, VECTORLIKE &  out_column  )

inline

Extract a column from a vector of vectors, and store it in another vector.

• Input data can be: std::vector<mrpt::math::CVectorDouble>, std::deque<std::list<double> >, std::list<CArrayDouble<5> >, etc. etc.
• Output is the sequence: data[0][idx],data[1][idx],data[2][idx], etc..

For the sake of generality, this function does NOT check the limits in the number of column, unless it's implemented in the [] operator of each of the "rows".

Definition at line 148 of file base/include/mrpt/math/utils.h.

factorial()

double mrpt::math::factorial

(

unsigned int

n

)

Computes the factorial of an integer number and returns it as a double value (internally it uses logarithms for avoiding overflow).

Definition at line 991 of file math.cpp.

Referenced by cos_Asymptotic_Series(), Power_Series_C(), Power_Series_S(), and sin_Asymptotic_Series().

factorial64()

uint64_t mrpt::math::factorial64

(

unsigned int

n

)

Computes the factorial of an integer number and returns it as a 64-bit integer number.

Definition at line 978 of file math.cpp.

isFinite() [1/2]

bool mrpt::mrpt::math::isFinite

(

float

f

)

Returns true if the number is non infinity.

Returns true if value is finite.

Definition at line 1705 of file math.cpp.

Referenced by mrpt::math::normalCDF(), and TEST().

isFinite() [2/2]

bool mrpt::mrpt::math::isFinite

(

double

f

)

Returns true if the number is non infinity.

Returns true if value is finite.

Definition at line 1719 of file math.cpp.

isNaN() [1/2]

bool mrpt::mrpt::math::isNaN

(

float

f

)

Returns true if the number is NaN.

Definition at line 1679 of file math.cpp.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::addScanMatchingEdges(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::getMinUncertaintyPath(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::mahalanobisDistanceOdometryToICPEdge(), mrpt::math::normalCDF(), mrpt::math::normalQuantile(), mrpt::maps::CRandomFieldGridMap2D::resize(), and TEST().

isNaN() [2/2]

bool mrpt::mrpt::math::isNaN

(

double

f

)

Returns true if the number is NaN.

Returns true if value is Not-a-number (NAN)

Definition at line 1692 of file math.cpp.

linspace()

template<typename T , typename VECTOR >

void mrpt::math::linspace	(	T	first,
		T	last,
		size_t	count,
		VECTOR &	out_vector
	)

Generates an equidistant sequence of numbers given the first one, the last one and the desired number of points.

See also

sequence

Definition at line 95 of file base/include/mrpt/math/utils.h.

Referenced by mrpt::math::CHistogram::getHistogram(), mrpt::math::CHistogram::getHistogramNormalized(), and mrpt::tfest::se3_l2_robust().

loadVector() [1/4]

bool BASE_IMPEXP mrpt::math::loadVector	(	utils::CFileStream &	f,
		std::vector< int > &	d
	)

Loads one row of a text file as a numerical std::vector.

Returns

false on EOF or invalid format. The body of the function is implemented in MATH.cpp

loadVector() [2/4]

bool BASE_IMPEXP mrpt::math::loadVector	(	utils::CFileStream &	f,
		std::vector< double > &	d
	)

Loads one row of a text file as a numerical std::vector.

Returns

false on EOF or invalid format. The body of the function is implemented in MATH.cpp

loadVector() [3/4]

template<typename EIGEN_VECTOR , typename At , size_t N>

EIGEN_VECTOR& mrpt::math::loadVector	(	EIGEN_VECTOR &	v,
		At(&)	theArray[N]
	)

Assignment operator for initializing a std::vector from a C array (The vector will be automatically set to the correct size).

    CVectorDouble  v;
const double numbers[] = { 1,2,3,5,6,7,8,9,10 };
loadVector( v, numbers );

Note

This operator performs the appropiate type castings, if required.

Definition at line 220 of file base/include/mrpt/math/utils.h.

References MRPT_COMPILE_TIME_ASSERT.

loadVector() [4/4]

template<typename T , typename At , size_t N>

std::vector<T>& mrpt::math::loadVector	(	std::vector< T > &	v,
		At(&)	theArray[N]
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 230 of file base/include/mrpt/math/utils.h.

References MRPT_COMPILE_TIME_ASSERT.

make_vector()

template<size_t N, typename T >

std::vector<T> mrpt::math::make_vector	(	const T	val1,
			...
	)

A versatile template to build vectors on-the-fly in a style close to MATLAB's v=[a b c d ...] The first argument of the template is the vector length, and the second the type of the numbers.

Some examples:

std::vector<double> = make_vector<4,double>(1.0,3.0,4.0,5.0);
std::vector<float>  = make_vector<2,float>(-8.12, 3e4);

Definition at line 249 of file base/include/mrpt/math/utils.h.

References MRPT_COMPILE_TIME_ASSERT.

medianFilter()

void mrpt::mrpt::math::medianFilter	(	const std::vector< double > &	inV,
		std::vector< double > &	outV,
		const int &	winSize,
		const int &	numberOfSigmas = 2
	)

Definition at line 2063 of file math.cpp.

References ASSERT_, min, and MRPT_UNUSED_PARAM.

normalize()

template<class VEC1 , class VEC2 >

void mrpt::math::normalize	(	const VEC1 &	v,
		VEC2 &	out_v
	)

Normalize a vector, such as its norm is the unity.

If the vector has a null norm, the output is a null vector.

Definition at line 127 of file base/include/mrpt/math/utils.h.

References mrpt::math::square().

operator!()

template<class Derived >

Eigen::MatrixBase<Derived>::PlainObject mrpt::math::operator! ( const Eigen::MatrixBase< Derived > &  m )

inline

Unary inversion operator.

Definition at line 38 of file ops_matrices.h.

operator*()

template<typename T1 , typename T2 >

std::vector<T1> mrpt::math::operator* ( const std::vector< T1 > &  a, const std::vector< T2 > &  b  )

inline

a*b (element-wise multiplication)

Definition at line 59 of file ops_vectors.h.

References ASSERT_EQUAL_.

operator*=() [1/2]

template<typename T1 , typename T2 >

std::vector<T1>& mrpt::math::operator*= ( std::vector< T1 > &  a, const std::vector< T2 > &  b  )

inline

a*=b (element-wise multiplication)

Definition at line 40 of file ops_vectors.h.

References ASSERT_EQUAL_.

operator*=() [2/2]

template<typename T1 >

std::vector<T1>& mrpt::math::operator*= ( std::vector< T1 > &  a, const T1  b  )

inline

a*=k (multiplication by a constant)

Definition at line 50 of file ops_vectors.h.

operator+()

template<typename T1 , typename T2 >

std::vector<T1> mrpt::math::operator+ ( const std::vector< T1 > &  a, const std::vector< T2 > &  b  )

inline

a+b (element-wise sum)

Definition at line 89 of file ops_vectors.h.

References ASSERT_EQUAL_.

operator+=() [1/2]

template<typename T1 , typename T2 >

std::vector<T1>& mrpt::math::operator+= ( std::vector< T1 > &  a, const std::vector< T2 > &  b  )

inline

a+=b (element-wise sum)

Definition at line 70 of file ops_vectors.h.

References ASSERT_EQUAL_.

operator+=() [2/2]

template<typename T1 >

std::vector<T1>& mrpt::math::operator+= ( std::vector< T1 > &  a, const T1  b  )

inline

a+=b (sum a constant)

Definition at line 80 of file ops_vectors.h.

operator-()

template<typename T1 , typename T2 >

std::vector<T1> mrpt::math::operator- ( const std::vector< T1 > &  v1, const std::vector< T2 > &  v2  )

inline

Definition at line 99 of file ops_vectors.h.

References ASSERT_EQUAL_.

operator<<() [1/7]

template<size_t NROWS, size_t NCOLS>

mrpt::utils::CStream& mrpt::math::operator<<	(	mrpt::utils::CStream &	out,
		const CMatrixFixedNumeric< float, NROWS, NCOLS > &	M
	)

Write operator for writing into a CStream.

The format is compatible with that of CMatrix & CMatrixD

Definition at line 51 of file matrix_serialization.h.

operator<<() [2/7]

template<size_t NROWS, size_t NCOLS>

mrpt::utils::CStream& mrpt::math::operator<<	(	mrpt::utils::CStream &	out,
		const CMatrixFixedNumeric< double, NROWS, NCOLS > &	M
	)

Write operator for writing into a CStream.

The format is compatible with that of CMatrix & CMatrixD

Definition at line 58 of file matrix_serialization.h.

operator<<() [3/7]

template<typename T , size_t NROWS, size_t NCOLS>

std::ostream& mrpt::math::operator<< ( std::ostream &  s, const CMatrixFixedNumeric< T, NROWS, NCOLS > &  m  )

inline

Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output.

Definition at line 73 of file matrix_serialization.h.

operator<<() [4/7]

template<typename T >

std::ostream& mrpt::math::operator<< ( std::ostream &  s, const CMatrixTemplateNumeric< T > &  m  )

inline

Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output.

Definition at line 81 of file matrix_serialization.h.

operator<<() [5/7]

template<class T >

std::ostream& mrpt::math::operator<<	(	std::ostream &	out,
		const std::vector< T > &	d
	)

A template function for printing out the contents of a std::vector variable.

Definition at line 112 of file ops_vectors.h.

operator<<() [6/7]

template<class T >

std::ostream& mrpt::math::operator<<	(	std::ostream &	out,
		std::vector< T > *	d
	)

A template function for printing out the contents of a std::vector variable.

Definition at line 127 of file ops_vectors.h.

operator<<() [7/7]

template<typename T , size_t N>

mrpt::utils::CStream& mrpt::math::operator<<	(	mrpt::utils::CStream &	ostrm,
		const CArrayNumeric< T, N > &	a
	)

Binary dump of a CArrayNumeric<T,N> to a stream.

Definition at line 141 of file ops_vectors.h.

operator>>() [1/3]

template<size_t NROWS, size_t NCOLS>

mrpt::utils::CStream& mrpt::math::operator>>	(	mrpt::utils::CStream &	in,
		CMatrixFixedNumeric< float, NROWS, NCOLS > &	M
	)

Read operator from a CStream.

The format is compatible with that of CMatrix & CMatrixD

Definition at line 32 of file matrix_serialization.h.

References ASSERTMSG_, and mrpt::format().

operator>>() [2/3]

template<size_t NROWS, size_t NCOLS>

mrpt::utils::CStream& mrpt::math::operator>>	(	mrpt::utils::CStream &	in,
		CMatrixFixedNumeric< double, NROWS, NCOLS > &	M
	)

Read operator from a CStream.

The format is compatible with that of CMatrix & CMatrixD

Definition at line 41 of file matrix_serialization.h.

References ASSERTMSG_, and mrpt::format().

operator>>() [3/3]

template<typename T , size_t N>

mrpt::utils::CStream& mrpt::math::operator>>	(	mrpt::utils::CStream &	istrm,
		CArrayNumeric< T, N > &	a
	)

Binary read of a CArrayNumeric<T,N> from a stream.

Definition at line 150 of file ops_vectors.h.

References ASSERTMSG_, mrpt::format(), and mrpt::utils::CStream::ReadBufferFixEndianness().

operator~()

template<class Derived >

const Eigen::MatrixBase<Derived>::AdjointReturnType mrpt::math::operator~ ( const Eigen::MatrixBase< Derived > &  m )

inline

Transpose operator for matrices.

Definition at line 32 of file ops_matrices.h.

round2up()

template<class T >

T mrpt::math::round2up

(

T

val

)

Round up to the nearest power of two of a given number.

Definition at line 167 of file base/include/mrpt/math/utils.h.

References THROW_EXCEPTION, and val.

Referenced by mrpt::math::cross_correlation_FFT(), mrpt::utils::CImage::cross_correlation_FFT(), mrpt::math::dft2_complex(), mrpt::math::idft2_complex(), and mrpt::math::idft2_real().

sequenceStdVec()

template<class T , T STEP>

std::vector<T> mrpt::math::sequenceStdVec ( T  first, size_t  length  )

inline

Generates a sequence of values [first,first+STEP,first+2*STEP,...].

See also

linspace, sequence

Definition at line 114 of file base/include/mrpt/math/utils.h.

unwrap2PiSequence()

template<class VECTOR >

void mrpt::math::unwrap2PiSequence

(

VECTOR &

x

)

Modify a sequence of angle values such as no consecutive values have a jump larger than PI in absolute value.

See also

wrapToPi

Definition at line 70 of file wrap2pi.h.

References M_PI, and mrpt::math::wrapToPiInPlace().

Referenced by mrpt::poses::CPoseInterpolatorBase< 3 >::impl_interpolation().

wrapTo2Pi()

template<class T >

T mrpt::math::wrapTo2Pi ( T  a )

inline

Modifies the given angle to translate it into the [0,2pi[ range.

Note

Take care of not instancing this template for integer numbers, since it only works for float, double and long double.

See also

wrapToPi, wrapTo2Pi, unwrap2PiSequence

Definition at line 40 of file wrap2pi.h.

References mrpt::math::wrapTo2PiInPlace().

Referenced by mrpt::nav::collision_free_dist_arc_circ_robot(), mrpt::obs::CObservation2DRangeScan::filterByExclusionAngles(), mrpt::math::operator!=(), mrpt::math::operator==(), and mrpt::math::wrapToPi().

wrapTo2PiInPlace()

template<class T >

void mrpt::math::wrapTo2PiInPlace ( T &  a )

inline

Modifies the given angle to translate it into the [0,2pi[ range.

Note

Take care of not instancing this template for integer numbers, since it only works for float, double and long double.

See also

wrapToPi, wrapTo2Pi, unwrap2PiSequence

Definition at line 28 of file wrap2pi.h.

References M_PI.

Referenced by mrpt::nav::CPTG_DiffDrive_C::inverseMap_WS2TP(), and mrpt::math::wrapTo2Pi().

wrapToPi()

template<class T >

T mrpt::math::wrapToPi ( T  a )

inline

Modifies the given angle to translate it into the ]-pi,pi] range.

Note

Take care of not instancing this template for integer numbers, since it only works for float, double and long double.

See also

wrapTo2Pi, wrapToPiInPlace, unwrap2PiSequence

Definition at line 51 of file wrap2pi.h.

References M_PI, and mrpt::math::wrapTo2Pi().

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::accumulateAngleDiffs(), mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::checkRegistrationCondition(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition(), mrpt::poses::CPose2D::composeFrom(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun(), mrpt::math::covariancesAndMeanWeighted(), mrpt::nav::CHolonomicFullEval::direction2sector(), mrpt::nav::CHolonomicND::direction2sector(), mrpt::poses::CPose3D::distanceEuclidean6D(), mrpt::poses::CPose3DPDFGaussianInf::drawManySamples(), mrpt::poses::CPose3DPDFGaussian::drawManySamples(), mrpt::obs::CActionRobotMovement2D::drawSingleSample_modelThrun(), mrpt::poses::CPosePDFParticles::evaluatePDF_parzen(), mrpt::math::getAngle(), mrpt::poses::CPose3DPDFParticles::getCovarianceAndMean(), mrpt::poses::CPosePDFParticles::getCovarianceAndMean(), mrpt::obs::CObservationBearingRange::getDescriptionAsText(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::kinematics::CVehicleSimul_Holo::internal_simulControlStep(), mrpt::math::interpolate2points(), mrpt::poses::CPose2D::inverseComposeFrom(), mrpt::poses::CPose3D::isHorizontal(), mrpt::math::leastSquareLinearFit(), mrpt::poses::CPose2D::normalizePhi(), mrpt::slam::CRangeBearingKFSLAM2D::OnObservationModel(), mrpt::math::TPose2D::operator+(), mrpt::math::TPose2D::operator-(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH(), mrpt::hwdrivers::CNTRIPClient::retrieveListOfMountpoints(), run_test_so2_avrg(), mrpt::tfest::se2_l2_robust(), mrpt::poses::CPose3D::setFromValues(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), mrpt::math::spline(), and mrpt::math::wrapToPiInPlace().

wrapToPiInPlace()

template<class T >

void mrpt::math::wrapToPiInPlace ( T &  a )

inline

Modifies the given angle to translate it into the ]-pi,pi] range.

Note

Take care of not instancing this template for integer numbers, since it only works for float, double and long double.

See also

wrapToPi,wrapTo2Pi, unwrap2PiSequence

Definition at line 61 of file wrap2pi.h.

References mrpt::math::wrapToPi().

Referenced by mrpt::math::angDistance(), mrpt::graphs::detail::graph_ops< graph_t >::auxMaha2Dist(), mrpt::poses::CPosePDFGaussianInf::drawManySamples(), mrpt::poses::CPosePDFGaussian::drawManySamples(), mrpt::poses::CPosePDFGaussianInf::mahalanobisDistanceTo(), mrpt::poses::CPosePDFGaussian::mahalanobisDistanceTo(), mrpt::poses::CPosePDFSOG::mergeModes(), mrpt::slam::CRangeBearingKFSLAM2D::OnNormalizeStateVector(), mrpt::slam::CRangeBearingKFSLAM2D::OnSubstractObservationVectors(), mrpt::slam::CRangeBearingKFSLAM::OnSubstractObservationVectors(), mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep(), mrpt::nav::PlannerRRT_SE2_TPS::solve(), and mrpt::math::unwrap2PiSequence().