jrlMathTools Namespace Reference

Classes
class	Angle
	This class implements simple computations on angles. More...
struct	Matrix3x3
	Generic 3x3 matrix. More...
struct	Matrix4x4
	Generic 4x4 matrix. More...
struct	Vector3D
	Generic 3d vector. More...
struct	Vector4D
	Generic 4D vector. More...
Typedefs
typedef Angle	CAngle
Functions
double	degreeToRadian (const double &x)
double	radianToDegree (const double &x)
template<typename T >
Angle	operator* (const T &coef, const Angle &angle)
double	cos (const Angle &angle)
double	sin (const Angle &angle)
double	tan (const Angle &angle)
std::ostream &	display (std::ostream &os, const Angle &angle)
template<typename T >
std::ostream &	operator<< (std::ostream &os, const Matrix3x3< T > &m)
template<typename T >
std::ostream &	operator<< (std::ostream &os, const Matrix4x4< T > &m)
void	_resize (matrixNxP &mat1, const matrixNxP &mat2)
void	_resizeInv (matrixNxP &res, const matrixNxP &mat2)
matrixNxP &	pseudoInverse (const matrixNxP &matrix, matrixNxP &outInverse, const double threshold=1e-6, matrixNxP *Uref=0, vectorN *Sref=0, matrixNxP *Vref=0)
	Compute the pseudo-inverse of the matrix.
matrixNxP	dampedInverse (const matrixNxP &inMatrix, matrixNxP &invMatrix, const double threshold=1e-6, matrixNxP *Uref=0, vectorN *Sref=0, matrixNxP *Vref=0)
template<typename T >
std::ostream &	operator<< (std::ostream &os, const Vector3D< T > &v)
template<typename T >
std::ostream &	operator<< (std::ostream &os, const Vector4D< T > &v)
Variables
static const bool	AUTORESIZE = true
static const bool	CHECKRESIZE = true

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Typedef Documentation

typedef Angle jrlMathTools::CAngle

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Function Documentation

void jrlMathTools::_resize	(	matrixNxP &	mat1,
		const matrixNxP &	mat2
	)

References AUTORESIZE.

Referenced by dampedInverse().

void jrlMathTools::_resizeInv	(	matrixNxP &	res,
		const matrixNxP &	mat2
	)

References AUTORESIZE.

Referenced by dampedInverse(), and pseudoInverse().

double jrlMathTools::cos

(

const Angle &

angle

)

[inline]

References jrlMathTools::Angle::value().

matrixNxP jrlMathTools::dampedInverse	(	const matrixNxP &	inMatrix,
		matrixNxP &	invMatrix,
		const double	threshold = 1e-6,
		matrixNxP *	Uref = 0,
		vectorN *	Sref = 0,
		matrixNxP *	Vref = 0
	)

References _resize(), _resizeInv(), dgesvd_(), MRAWDATA, and VRAWDATA.

double jrlMathTools::degreeToRadian

(

const double &

x

)

[inline]

Referenced by jrlMathTools::Angle::degree().

std::ostream& jrlMathTools::display	(	std::ostream &	os,
		const Angle &	angle
	)		[inline]

References jrlMathTools::Angle::display().

template<typename T >

Angle jrlMathTools::operator*	(	const T &	coef,
		const Angle &	angle
	)

References jrlMathTools::Angle::value().

template<typename T >

std::ostream& jrlMathTools::operator<<	(	std::ostream &	os,
		const Vector3D< T > &	v
	)

template<typename T >

std::ostream& jrlMathTools::operator<<	(	std::ostream &	os,
		const Vector4D< T > &	v
	)		[inline]

template<typename T >

std::ostream& jrlMathTools::operator<<	(	std::ostream &	os,
		const Matrix3x3< T > &	m
	)		[inline]

template<typename T >

std::ostream& jrlMathTools::operator<<	(	std::ostream &	os,
		const Matrix4x4< T > &	m
	)		[inline]

matrixNxP& jrlMathTools::pseudoInverse	(	const matrixNxP &	matrix,
		matrixNxP &	outInverse,
		const double	threshold = 1e-6,
		matrixNxP *	Uref = 0,
		vectorN *	Sref = 0,
		matrixNxP *	Vref = 0
	)

Compute the pseudo-inverse of the matrix.

By default, the function uses the dgesvd_ fortran routine. It should be provided by the host software.

References _resizeInv(), dgesvd_(), MRAWDATA, and VRAWDATA.

double jrlMathTools::radianToDegree

(

const double &

x

)

[inline]

Referenced by jrlMathTools::Angle::degree().

double jrlMathTools::sin

(

const Angle &

angle

)

[inline]

References jrlMathTools::Angle::value().

double jrlMathTools::tan

(

const Angle &

angle

)

[inline]

References jrlMathTools::Angle::value().

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Variable Documentation

const bool jrlMathTools::AUTORESIZE = true [static]

Referenced by _resize(), and _resizeInv().

const bool jrlMathTools::CHECKRESIZE = true [static]