Detailed Description

Collaboration diagram for Funtions in #include <mrpt/core/bits_math.h>:

Macros
#define	M_PI 3.14159265358979323846

#define	M_PIl 3.14159265358979323846264338327950288L

#define	M_2PIl (2.0L * 3.14159265358979323846264338327950288L)

#define	DEG2RAD DEG2RAD

#define	RAD2DEG RAD2DEG

Functions
template<typename num_t , typename return_t = num_t>
return_t	mrpt::square (const num_t x)
	Inline function for the square of a number. More...

template<class T >
T	mrpt::hypot_fast (const T x, const T y)
	Faster version of std::hypot(), to use when overflow is not an issue and we prefer fast code. More...

constexpr double	mrpt::DEG2RAD (const double x)
	Degrees to radians. More...

constexpr float	mrpt::DEG2RAD (const float x)
	Degrees to radians. More...

constexpr double	mrpt::DEG2RAD (const int x)
	Degrees to radians. More...

constexpr double	mrpt::RAD2DEG (const double x)
	Radians to degrees. More...

constexpr float	mrpt::RAD2DEG (const float x)
	Radians to degrees. More...

constexpr long double	mrpt::DEG2RAD (const long double x)
	Degrees to radians. More...

constexpr long double	mrpt::RAD2DEG (const long double x)
	Radians to degrees. More...

constexpr double	mrpt::operator"" _deg (long double v)
	degrees to radian literal operator (e.g. More...

template<typename T >
int	mrpt::sign (T x)
	Returns the sign of X as "1" or "-1". More...

template<typename T >
int	mrpt::signWithZero (T x)
	Returns the sign of X as "0", "1" or "-1". More...

template<typename T >
T	mrpt::lowestPositive (const T a, const T b)
	Returns the smallest positive number among a and b. More...

template<typename T >
T	mrpt::abs_diff (const T a, const T b)
	Efficient and portable evaluation of the absolute difference of two unsigned integer values (but will also work for signed and floating point types) More...

template<typename T >
const T	mrpt::min3 (const T &A, const T &B, const T &C)

template<typename T >
const T	mrpt::max3 (const T &A, const T &B, const T &C)

template<typename T >
int	mrpt::fix (T x)
	Rounds toward zero. More...

template<typename T , typename K >
void	mrpt::keep_min (T &var, const K test_val)
	If the second argument is below the first one, set the first argument to this lower value. More...

template<typename T , typename K >
void	mrpt::keep_max (T &var, const K test_val)
	If the second argument is above the first one, set the first argument to this higher value. More...

template<typename T >
void	mrpt::saturate (T &var, const T sat_min, const T sat_max)
	Saturate the value of var (the variable gets modified) so it does not get out of [min,max]. More...

template<typename T >
T	mrpt::saturate_val (const T &value, const T sat_min, const T sat_max)
	Like saturate() but it returns the value instead of modifying the variable. More...

template<class T >
T	mrpt::round2up (T val)
	Round up to the nearest power of two of a given number. More...

float	mrpt::d2f (const double d)
	shortcut for static_cast<float>(double) More...

uint8_t	mrpt::f2u8 (const float f)
	converts a float [0,1] into an uint8_t [0,255] (without checking for out of bounds) More...

float	mrpt::u8tof (const uint8_t v)
	converts a uint8_t [0,255] into a float [0,1] More...

Macro Definition Documentation

◆ DEG2RAD

#define DEG2RAD DEG2RAD

Definition at line 79 of file core/include/mrpt/core/bits_math.h.

Referenced by mrpt::topography::ENU_axes_from_WGS84(), mrpt::topography::geocentricToENU_WGS84(), mrpt::topography::geodeticToGeocentric(), mrpt::topography::geodeticToGeocentric_WGS84(), mrpt::topography::GeodeticToUTM(), mrpt::topography::geodeticToUTM(), mrpt::hwdrivers::CTuMicos::radQuerry(), mrpt::hwdrivers::CPtuDPerception::resolution(), and mrpt::obs::CObservation2DRangeScan::serializeFrom().

◆ M_2PIl

#define M_2PIl (2.0L * 3.14159265358979323846264338327950288L)

Definition at line 64 of file core/include/mrpt/core/bits_math.h.

◆ M_PI

#define M_PI 3.14159265358979323846

Definition at line 43 of file core/include/mrpt/core/bits_math.h.

Referenced by mrpt::nav::CPTG_RobotShape_Circular::add_robotShape_to_setOfLines(), mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), mrpt::math::angDistance(), mrpt::hwdrivers::CServoeNeck::angle2RegValue(), mrpt::math::averageWrap2Pi(), mrpt::maps::CGasConcentrationGridMap2D::build_Gaussian_Wind_Grid(), mrpt::nav::collision_free_dist_arc_circ_robot(), mrpt::expr::CRuntimeCompiledExpression::compile(), mrpt::maps::COccupancyGridMap2D::computeClearance(), mrpt::hwdrivers::CIbeoLuxETH::convertTicksToHRad(), mrpt::hwdrivers::CIbeoLuxETH::convertToCartesian(), mrpt::math::covariancesAndMeanWeighted(), GraphSlamLevMarqTest< my_graph_t >::create_ring_path(), mrpt::opengl::CPolyhedron::CreateCupola(), mrpt::opengl::CPolyhedron::CreateIcosahedron(), mrpt::opengl::CPolyhedron::CreateJohnsonSolidWithConstantBase(), mrpt::math::TPolygon3D::createRegularPolygon(), mrpt::math::TPolygon2D::createRegularPolygon(), mrpt::opengl::CPolyhedron::CreateRhombicuboctahedron(), mrpt::opengl::CPolyhedron::CreateTrapezohedron(), mrpt::DEG2RAD(), mrpt::nav::CHolonomicND::direction2sector(), mrpt::nav::CHolonomicFullEval::direction2sector(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::ros1bridge::fromROS(), mrpt::opengl::CPolyhedron::generateBase(), mrpt::opengl::CPolyhedron::generateShiftedBase(), mrpt::math::getAngle(), mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(), insertCupola(), insertRotunda(), mrpt::maps::CBeaconMap::internal_insertObservation(), mrpt::nav::CPTG_DiffDrive_C::inverseMap_WS2TP(), mrpt::poses::CPose3D::isHorizontal(), mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams(), mrpt::maps::CLandmarksMap::TLikelihoodOptions::loadFromConfigFile(), mrpt::nav::CHolonomicVFF::navigate(), mrpt::nav::CPTG_DiffDrive_CCS::ptgDiffDriveSteeringFunction(), mrpt::nav::CPTG_DiffDrive_CC::ptgDiffDriveSteeringFunction(), mrpt::nav::CPTG_DiffDrive_alpha::ptgDiffDriveSteeringFunction(), mrpt::nav::CPTG_DiffDrive_C::ptgDiffDriveSteeringFunction(), mrpt::RAD2DEG(), ransac_data_assoc_run(), mrpt::hwdrivers::CServoeNeck::regValue2angle(), mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree(), mrpt::math::CQuaternion< T >::rpy_and_jacobian(), mrpt::hwdrivers::CServoeNeck::setAngle(), mrpt::hwdrivers::CServoeNeck::setAngleAndSpeed(), mrpt::vision::CDifodo::setFOV(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::simulateTrajectories(), mrpt::math::spline(), TEST(), TEST_F(), mrpt::nav::PlannerRRT_SE2_TPS::TPlannerInput::TPlannerInput(), mrpt::hwdrivers::CHokuyoURG::turnOn(), mrpt::math::unwrap2PiSequence(), velodyne_scan_to_pointcloud(), mrpt::math::wrapTo2PiInPlace(), and mrpt::math::wrapToPi().

◆ M_PIl

#define M_PIl 3.14159265358979323846264338327950288L

Definition at line 63 of file core/include/mrpt/core/bits_math.h.

Referenced by mrpt::DEG2RAD(), and mrpt::RAD2DEG().

◆ RAD2DEG

#define RAD2DEG RAD2DEG

Definition at line 80 of file core/include/mrpt/core/bits_math.h.

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::topography::geocentricToGeodetic(), mrpt::obs::CObservation2DRangeScan::getDescriptionAsText(), mrpt::hwdrivers::CPtuDPerception::init(), mrpt::hwdrivers::CTuMicos::moveToAbsPos(), mrpt::hwdrivers::CTuMicos::moveToOffPos(), mrpt::hwdrivers::CTuMicos::radAsign(), and mrpt::topography::UTMToGeodetic().

Function Documentation

◆ abs_diff()

template<typename T >

T mrpt::abs_diff	(	const T	a,
		const T	b
	)

inline

Efficient and portable evaluation of the absolute difference of two unsigned integer values (but will also work for signed and floating point types)

Definition at line 118 of file core/include/mrpt/core/bits_math.h.

Referenced by mrpt::nav::CHolonomicND::calcRepresentativeSectorForGap(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::nav::CHolonomicND::evaluateGaps(), and TEST().

Here is the caller graph for this function:

◆ d2f()

float mrpt::d2f ( const double d )

inline

shortcut for static_cast<float>(double)

Definition at line 189 of file core/include/mrpt/core/bits_math.h.

Referenced by mrpt::opengl::TRenderMatrices::applyLookAt(), aux_add3DpointWithEigenVectors(), mrpt::vision::CDifodo::calculateDepthDerivatives(), mrpt::obs::carmen_log_parse_line(), mrpt::maps::CRandomFieldGridMap2D::cell2float(), mrpt::poses::CPointPDFParticles::changeCoordinatesReference(), mrpt::poses::CPose3D::composePoint(), mrpt::maps::CPointsMap::compute3DDistanceToMesh(), mrpt::maps::CLandmarksMap::compute3DMatchingRatio(), mrpt::maps::COccupancyGridMap2D::computeEntropy(), mrpt::maps::CBeaconMap::computeMatchingWith3DLandmarks(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), mrpt::maps::COccupancyGridMap2D::computePathCost(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::obs::detail::cost_func(), mrpt::maps::CPointsMap::determineMatching2D(), mrpt::maps::COccupancyGridMap2D::determineMatching2D(), mrpt::maps::CPointsMap::determineMatching3D(), mrpt::obs::CObservationRotatingScan::fromScan2D(), generate_list_of_points(), mrpt::maps::COccupancyGridMap3D::getAsOctoMapVoxels(), mrpt::opengl::CPlanarLaserScan::getLocalRepresentativePoint(), mrpt::maps::CHeightGridMap2D_Base::getMinMaxHeight(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::vision::TKeyPointList_templ< TKeyPoint >::getScale(), mrpt::obs::CSinCosLookUpTableFor2DScans::getSinCosForScan(), mrpt::maps::CGasConcentrationGridMap2D::getWindAs3DObject(), IMPLEMENTS_SERIALIZABLE(), mrpt::maps::CHeightGridMap2D::insertIndividualPoint(), mrpt::maps::CPointsMap::insertPoint(), mrpt::vision::CFeatureExtraction::internal_computeSpinImageDescriptors(), mrpt::vision::CFeature::internal_distanceBetweenPolarImages(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::maps::COccupancyGridMap2D::internal_insertObservation(), mrpt::gui::CDisplayWindowPlots::internal_plot_interface(), mrpt::obs::CObservationGasSensors::CMOSmodel::inverse_MOSmodeling(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint2D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint2DsqrError(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint2D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint2DIdx(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3DIdx(), mrpt::vision::CDifodo::odometryCalculation(), mrpt::gui::CWindowDialogPlots::OnMenuSelected(), mrpt::vision::CFeature::patchCorrelationTo(), mrpt::topography::path_from_rtk_gps(), mrpt::gui::CDisplayWindowPlots::plotEllipse(), ply_read(), mrpt::opengl::CSetOfObjects::posePDF2opengl(), mrpt::vision::pinhole::projectPoints_with_distortion(), mrpt::opengl::CCylinder::reachesHeight(), mrpt::opengl::CPointCloudColoured::render_subset(), mrpt::opengl::CPointCloud::render_subset(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::CCollisionGrid::saveToFile(), mrpt::math::SegmentsIntersection(), mrpt::maps::CPointsMap::setPoint(), mrpt::opengl::CCamera::setPointingAt(), mrpt::maps::CLandmark::setPose(), mrpt::maps::CPointsMap::squareDistanceToClosestCorrespondenceT(), mrpt::tfest::TMatchingPairList::squareErrorVector(), store_item(), TEST(), mrpt::opengl::CCylinder::traceRay(), mrpt::vision::pinhole::undistort_point(), mrpt::vision::pinhole::undistort_points(), mrpt::kinematics::CKinematicChain::update3DObject(), velodyne_scan_to_pointcloud(), and write_binary_item().

Here is the caller graph for this function:

◆ DEG2RAD() [1/4]

constexpr double mrpt::DEG2RAD ( const double x )

inline

Degrees to radians.

Examples:: serialization_json_example/test.cpp.

Definition at line 47 of file core/include/mrpt/core/bits_math.h.

References M_PI.

Here is the caller graph for this function:

◆ DEG2RAD() [2/4]

constexpr float mrpt::DEG2RAD ( const float x )

inline

Degrees to radians.

Definition at line 49 of file core/include/mrpt/core/bits_math.h.

References M_PI.

◆ DEG2RAD() [3/4]

constexpr double mrpt::DEG2RAD ( const int x )

inline

Degrees to radians.

Definition at line 54 of file core/include/mrpt/core/bits_math.h.

References M_PI.

◆ DEG2RAD() [4/4]

constexpr long double mrpt::DEG2RAD ( const long double x )

inline

Degrees to radians.

Definition at line 67 of file core/include/mrpt/core/bits_math.h.

References M_PIl.

◆ f2u8()

uint8_t mrpt::f2u8 ( const float f )

inline

converts a float [0,1] into an uint8_t [0,255] (without checking for out of bounds)

See also: u8tof

Definition at line 193 of file core/include/mrpt/core/bits_math.h.

Referenced by mrpt::img::TColorf::asTColor(), mrpt::maps::COccupancyGridMap3D::getAsOctoMapVoxels(), mrpt::opengl::PointCloudAdapter< mrpt::maps::CColouredPointsMap >::getPointRGBu8(), mrpt::opengl::CPointCloud::onUpdateBuffers_Points(), mrpt::opengl::CPointCloudColoured::PLY_import_set_vertex(), mrpt::opengl::CPointCloudColoured::push_back(), mrpt::opengl::TTriangle::setColor(), mrpt::opengl::CRenderizable::setColor(), mrpt::opengl::CRenderizable::setColorA(), mrpt::opengl::CRenderizable::setColorB(), mrpt::opengl::CRenderizable::setColorG(), mrpt::opengl::CRenderizable::setColorR(), mrpt::opengl::CVectorField3D::setMotionFieldColormap(), mrpt::opengl::CVectorField2D::setPointColor(), mrpt::opengl::CVectorField3D::setPointColor(), mrpt::opengl::CPointCloudColoured::setPointColor_fast(), mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloudColoured >::setPointXYZ_RGBAf(), mrpt::opengl::CVectorField2D::setVectorFieldColor(), mrpt::opengl::CVectorField3D::setVectorFieldColor(), and mrpt::opengl::CMesh::updateTriangles().

Here is the caller graph for this function:

◆ fix()

template<typename T >

int mrpt::fix ( T x )

inline

Rounds toward zero.

Definition at line 136 of file core/include/mrpt/core/bits_math.h.

Referenced by mrpt::topography::GeodeticToUTM(), mrpt::topography::geodeticToUTM(), and TEST().

Here is the caller graph for this function:

◆ hypot_fast()

template<class T >

T mrpt::hypot_fast	(	const T	x,
		const T	y
	)

inline

Faster version of std::hypot(), to use when overflow is not an issue and we prefer fast code.

Definition at line 31 of file core/include/mrpt/core/bits_math.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::nav::CPTG_RobotShape_Polygonal::evalClearanceToRobotShape(), mrpt::nav::CPTG_RobotShape_Circular::evalClearanceToRobotShape(), mrpt::nav::CPTG_RobotShape_Circular::isPointInsideRobotShape(), mrpt::math::TPose2D::norm(), and TEST().

Here is the caller graph for this function:

◆ keep_max()

template<typename T , typename K >

void mrpt::keep_max	(	T &	var,
		const K	test_val
	)

inline

If the second argument is above the first one, set the first argument to this higher value.

Definition at line 152 of file core/include/mrpt/core/bits_math.h.

Here is the caller graph for this function:

◆ keep_min()

template<typename T , typename K >

void mrpt::keep_min	(	T &	var,
		const K	test_val
	)

inline

If the second argument is below the first one, set the first argument to this lower value.

Definition at line 145 of file core/include/mrpt/core/bits_math.h.

Here is the caller graph for this function:

◆ lowestPositive()

template<typename T >

T mrpt::lowestPositive	(	const T	a,
		const T	b
	)

Returns the smallest positive number among a and b.

Definition at line 104 of file core/include/mrpt/core/bits_math.h.

Referenced by TEST().

Here is the caller graph for this function:

◆ max3()

template<typename T >

const T mrpt::max3	(	const T &	A,
		const T &	B,
		const T &	C
	)

inline

Definition at line 129 of file core/include/mrpt/core/bits_math.h.

Referenced by mrpt::maps::COccupancyGridMap3D::insertRay(), mrpt::maps::CBeaconMap::internal_insertObservation(), mrpt::maps::COccupancyGridMap2D::internal_insertObservation(), mrpt::img::rgb2hsv(), and TEST().

Here is the caller graph for this function:

◆ min3()

template<typename T >

const T mrpt::min3	(	const T &	A,
		const T &	B,
		const T &	C
	)

inline

Definition at line 124 of file core/include/mrpt/core/bits_math.h.

Referenced by mrpt::nav::CHolonomicND::evaluateGaps(), mrpt::maps::COccupancyGridMap2D::internal_insertObservation(), mrpt::img::rgb2hsv(), and TEST().

Here is the caller graph for this function:

◆ operator"" _deg()

constexpr double mrpt::operator"" _deg ( long double v )

inline

degrees to radian literal operator (e.g.

x=90.0_deg;)

Definition at line 83 of file core/include/mrpt/core/bits_math.h.

References mrpt::DEG2RAD().

Here is the call graph for this function:

◆ RAD2DEG() [1/3]

constexpr double mrpt::RAD2DEG ( const double x )

inline

Radians to degrees.

Definition at line 56 of file core/include/mrpt/core/bits_math.h.

References M_PI.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::math::TTwist2D::asString(), mrpt::math::TPose2D::asString(), mrpt::math::TTwist3D::asString(), mrpt::math::TPose3D::asString(), mrpt::poses::CPose2D::asString(), mrpt::poses::CPose3D::asString(), mrpt::obs::CObservationBearingRange::debugPrintOut(), mrpt::apps::RawlogGrabberApp::dump_IMU_info(), mrpt::hmtslam::CLocalMetricHypothesis::dumpAsText(), mrpt::slam::TKLDParams::dumpToTextStream(), mrpt::slam::CMetricMapBuilderICP::TConfigParams::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams::dumpToTextStream(), mrpt::vision::TMultiResDescMatchOptions::dumpToTextStream(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams::getAsString(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams::getAsString(), mrpt::nav::TWaypoint::getAsText(), mrpt::nav::CPTG_DiffDrive_alpha::getDescription(), mrpt::obs::CObservationRange::getDescriptionAsText(), mrpt::obs::CObservationBearingRange::getDescriptionAsText(), mrpt::obs::CObservationIMU::getDescriptionAsText(), mrpt::obs::CObservationRotatingScan::getDescriptionAsText(), mrpt::opengl::CFrustum::getHorzFOV(), mrpt::opengl::CFrustum::getHorzFOVLeft(), mrpt::opengl::CFrustum::getHorzFOVRight(), mrpt::opengl::CRenderizable::getPosePitch(), mrpt::opengl::CRenderizable::getPoseRoll(), mrpt::opengl::CRenderizable::getPoseYaw(), mrpt::opengl::CFrustum::getVertFOV(), mrpt::opengl::CFrustum::getVertFOVDown(), mrpt::opengl::CFrustum::getVertFOVUp(), mrpt::slam::CICP::TConfigParams::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM2D::TOptions::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::TOptions::loadFromConfigFile(), mrpt::hmtslam::CHMTSLAM::TOptions::loadFromConfigFile(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI(), mrpt::poses::operator<<(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::hwdrivers::CNTRIPClient::retrieveListOfMountpoints(), mrpt::nav::CPTG_Holo_Blend::saveToConfigFile(), mrpt::nav::CPTG_DiffDrive_alpha::saveToConfigFile(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::saveToConfigFile(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), mrpt::hwdrivers::CServoeNeck::setAngle(), TEST(), mrpt::hwdrivers::CHokuyoURG::turnOn(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

Here is the caller graph for this function:

◆ RAD2DEG() [2/3]

constexpr float mrpt::RAD2DEG ( const float x )

inline

Radians to degrees.

Definition at line 58 of file core/include/mrpt/core/bits_math.h.

References M_PI.

◆ RAD2DEG() [3/3]

constexpr long double mrpt::RAD2DEG ( const long double x )

inline

Radians to degrees.

Definition at line 72 of file core/include/mrpt/core/bits_math.h.

References M_PIl.

◆ round2up()

template<class T >

T mrpt::round2up ( T val )

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

Definition at line 177 of file core/include/mrpt/core/bits_math.h.

References val.

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

Here is the caller graph for this function:

◆ saturate()

template<typename T >

void mrpt::saturate	(	T &	var,
		const T	sat_min,
		const T	sat_max
	)

inline

Saturate the value of var (the variable gets modified) so it does not get out of [min,max].

Definition at line 159 of file core/include/mrpt/core/bits_math.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), TEST(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

Here is the caller graph for this function:

◆ saturate_val()

template<typename T >

T mrpt::saturate_val	(	const T &	value,
		const T	sat_min,
		const T	sat_max
	)

inline

Like saturate() but it returns the value instead of modifying the variable.

Definition at line 167 of file core/include/mrpt/core/bits_math.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and TEST().

Here is the caller graph for this function:

◆ sign()

template<typename T >

int mrpt::sign ( T x )

inline

Returns the sign of X as "1" or "-1".

Definition at line 90 of file core/include/mrpt/core/bits_math.h.

Referenced by mrpt::opengl::CAngularObservationMesh::TDoubleRange::amount(), mrpt::opengl::CAngularObservationMesh::TDoubleRange::aperture(), mrpt::opengl::CAngularObservationMesh::TDoubleRange::finalValue(), mrpt::vision::pnp::upnp::generate_all_possible_solutions_for_f_unk(), mrpt::math::getAngle(), mrpt::kinematics::CVehicleSimul_Holo::internal_simulControlStep(), mrpt::math::intersect(), mrpt::nav::CPTG_DiffDrive_C::inverseMap_WS2TP(), myGeneralDFT(), mrpt::opengl::CAngularObservationMesh::TDoubleRange::negToPos(), mrpt::nav::CPTG_DiffDrive_C::ptgDiffDriveSteeringFunction(), mrpt::signWithZero(), mrpt::math::splitInConvexComponents(), and TEST().

Here is the caller graph for this function:

◆ signWithZero()

template<typename T >

int mrpt::signWithZero ( T x )

inline

Returns the sign of X as "0", "1" or "-1".

Definition at line 97 of file core/include/mrpt/core/bits_math.h.

References mrpt::sign().

Referenced by mrpt::nav::CPTG_Holo_Blend::directionToMotionCommand(), mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::getAlignCmd(), mrpt::nav::CPTG_Holo_Blend::getPathPose(), and TEST().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ square()

template<typename num_t , typename return_t = num_t>

return_t mrpt::square ( const num_t x )

inline

Inline function for the square of a number.

Definition at line 23 of file core/include/mrpt/core/bits_math.h.

◆ u8tof()

float mrpt::u8tof ( const uint8_t v )

inline

converts a uint8_t [0,255] into a float [0,1]

See also: f2u8

Definition at line 196 of file core/include/mrpt/core/bits_math.h.

Referenced by mrpt::img::CImage::getAsRGBMatrices(), mrpt::opengl::CRenderizable::getColorA(), mrpt::opengl::CRenderizable::getColorB(), mrpt::opengl::CRenderizable::getColorG(), mrpt::opengl::CRenderizable::getColorR(), mrpt::opengl::CPointCloudColoured::getPointColor_fast(), and mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloudColoured >::getPointXYZ_RGBAf().

Here is the caller graph for this function:

Detailed Description

Macros

Functions

Macro Definition Documentation

◆ DEG2RAD

◆ M_2PIl

◆ M_PI

◆ M_PIl

◆ RAD2DEG

Function Documentation

◆ abs_diff()

◆ d2f()

◆ DEG2RAD() [1/4]

◆ DEG2RAD() [2/4]

◆ DEG2RAD() [3/4]

◆ DEG2RAD() [4/4]

◆ f2u8()

◆ fix()

◆ hypot_fast()

◆ keep_max()

◆ keep_min()

◆ lowestPositive()

◆ max3()

◆ min3()

◆ operator"" _deg()

◆ RAD2DEG() [1/3]

◆ RAD2DEG() [2/3]

◆ RAD2DEG() [3/3]

◆ round2up()

◆ saturate()

◆ saturate_val()

◆ sign()

◆ signWithZero()

◆ square()

◆ u8tof()