stateObservation::tools Namespace Reference

Namespaces
namespace	Detail

Classes
class	Logger
class	ProbabilityLawSimulation
struct	SimplestStopwatch

Functions
std::string STATE_OBSERVATION_DLLAPI	matrixToString (const Matrix &mat)
std::string STATE_OBSERVATION_DLLAPI	vectorToString (const Vector &v)
Matrix STATE_OBSERVATION_DLLAPI	stringToMatrix (const std::string &str, Index rows, Index cols)
Vector STATE_OBSERVATION_DLLAPI	stringToVector (const std::string &str, Index length)
Vector STATE_OBSERVATION_DLLAPI	stringToVector (const std::string &str)
template<class T >
T	square (const T &x)
	computes the square of a value of any type
template<class T >
T	derivate (const T &o1, const T &o2, double dt)
	derivates any type with finite differences
template<typename T >
int	signum (T x)
	gives the sign of a variable (1, 0 or -1)
template<typename T >
std::string	toString (T val)
bool	checkIfNormalized (const Vector3 &v)
	checks if the vector is already normalized or not
bool	checkIfNormalized (const Vector3 &v, double &outputSquaredNorm)
	checks if the vector is already normalized or not
template<typename T >
T	clampScalar (const T &x, const T &max, const T &min)
	returns the value clamped between min and max
template<typename T >
T	clampScalar (const T &x, const T &limit)
	returns the value clamped between limit and -limit
Vector3	normalizedLazy (const Vector3 &v)
	normalize the vector only if it is not normalized already. Useful if the vector is likely to be normalized
double STATE_OBSERVATION_DLLAPI	finiteTimeAccControl (double x, double xd, double kp=-1, double kv=-1)
Vector STATE_OBSERVATION_DLLAPI	finiteTimeAccControl (const Vector &x, const Vector &xd, double kp=-1, double kv=-1)
	sqme as the scalar version but for every member of the vector
double constexpr	sqrt (double x)
	Constexpr version of the square root.

Function Documentation

checkIfNormalized() [1/2]

bool stateObservation::tools::checkIfNormalized ( const Vector3 &  v )

inline

checks if the vector is already normalized or not

Parameters

v	the vector to normalize

Returns

true the vector is normalized

false The vector is not normalized

checkIfNormalized() [2/2]

bool stateObservation::tools::checkIfNormalized ( const Vector3 &  v, double &  outputSquaredNorm  )

inline

checks if the vector is already normalized or not

Parameters

v	the vector to normalize
outputSquaredNorm	the squared norm as an output

Returns

true the vector is normalized

false The vector is not normalized

clampScalar() [1/2]

template<typename T >

T stateObservation::tools::clampScalar ( const T &  x, const T &  limit  )

inline

returns the value clamped between limit and -limit

Template Parameters

T	The type of the scalar

Parameters

x	the input value
limit	is the maximum absolute value allowed, has to be positive

Returns

T the clamped value

clampScalar() [2/2]

template<typename T >

T stateObservation::tools::clampScalar ( const T &  x, const T &  max, const T &  min  )

inline

returns the value clamped between min and max

Template Parameters

T	The type of the scalar

Parameters

x	the input value
max	the max value
min	the min value

Returns

T the calmped value

derivate()

template<class T >

T stateObservation::tools::derivate ( const T &  o1, const T &  o2, double  dt  )

inline

derivates any type with finite differences

finiteTimeAccControl() [1/2]

Vector STATE_OBSERVATION_DLLAPI stateObservation::tools::finiteTimeAccControl ( const Vector &  x, const Vector &  xd, double  kp = -1, double  kv = -1  )

inline

sqme as the scalar version but for every member of the vector

finiteTimeAccControl() [2/2]

double STATE_OBSERVATION_DLLAPI stateObservation::tools::finiteTimeAccControl ( double  x, double  xd, double  kp = -1, double  kv = -1  )

inline

provides an acceleration giving a finite time convergence to zero the state is the position x and the derivative xd and the output is the acceleration. The gains kp, kv must be negative

matrixToString()

std::string STATE_OBSERVATION_DLLAPI stateObservation::tools::matrixToString ( const Matrix &  mat )

protected

normalizedLazy()

Vector3 stateObservation::tools::normalizedLazy ( const Vector3 &  v )

inline

normalize the vector only if it is not normalized already. Useful if the vector is likely to be normalized

Parameters

v	the input vector

Returns

Vector3

signum()

template<typename T >

int stateObservation::tools::signum ( T  x )

inline

gives the sign of a variable (1, 0 or -1)

sqrt()

double constexpr stateObservation::tools::sqrt ( double  x )

constexpr

Constexpr version of the square root.

For a finite and non-negative value of "x", returns an approximation for the square root of "x" -Otherwise, returns NaN

Parameters

x

Returns

double constexpr

square()

template<class T >

T stateObservation::tools::square ( const T &  x )

inline

computes the square of a value of any type

stringToMatrix()

Matrix STATE_OBSERVATION_DLLAPI stateObservation::tools::stringToMatrix ( const std::string &  str, Index  rows, Index  cols  )

protected

stringToVector() [1/2]

Vector STATE_OBSERVATION_DLLAPI stateObservation::tools::stringToVector ( const std::string &  str )

protected

stringToVector() [2/2]

Vector STATE_OBSERVATION_DLLAPI stateObservation::tools::stringToVector ( const std::string &  str, Index  length  )

protected

toString()

template<typename T >

std::string stateObservation::tools::toString ( T  val )

inline

vectorToString()

std::string STATE_OBSERVATION_DLLAPI stateObservation::tools::vectorToString ( const Vector &  v )

protected