maliput::math Namespace Reference

Detailed Description

Namespace to group basic mathematical and geometric support to maliput.

Namespaces
	details

Classes
class	AxisAlignedBox
	Implements BoundingRegion abstract class for axis-aligned-box-shaped bounding regions. More...
class	BoundingBox
	Implements BoundingRegion abstract class for non-axis-aligned-box-shaped bounding regions. More...
class	BoundingRegion
	Abstract API for bounding description. More...
class	KDTree
	N-Dimension KDTree. More...
class	KDTree3D
	3-Dimensional KDTree. More...
class	Matrix
	A squared N-dimensional matrix. More...
class	Quaternion
	A Quaternion representation. More...
class	RollPitchYaw
	This class represents the orientation between two arbitrary frames A and D associated with a Space-fixed (extrinsic) X-Y-Z rotation by "roll-pitch-yaw" angles [r, p, y], which is equivalent to a Body-fixed (intrinsic) Z-Y-X rotation by "yaw-pitch-roll" angles [y, p, r]. More...
class	Vector
	A N-dimensional vector. More...
class	Vector2
	A 2-dimensional vector. More...
class	Vector3
	A 3-dimensional vector. More...
class	Vector4
	A 4-dimensional vector. More...
class	VectorBase
	Base class for an N-dimensional vector. More...

Typedefs
using	Matrix2 = Matrix< 2 >
	Convinient alias declaration. More...
using	Matrix3 = Matrix< 3 >
using	Matrix4 = Matrix< 4 >

Enumerations
enum	CompareType { kAbsolute, kRelative }
enum	OverlappingType : unsigned int { kDisjointed = 0, kIntersected = 1, kContained = 3 }
	Holds the possible overlapping types between regions. More...

Functions
template<std::size_t N, typename Derived >
common::ComparisonResult< math::VectorBase< N, Derived > >	CompareVectors (const math::VectorBase< N, Derived > &v1, const math::VectorBase< N, Derived > &v2, double tolerance=0.0, CompareType compare_type=CompareType::kAbsolute)
	Evaluate that two vectors v1 and v2 are equal down to a certain tolerance. More...
template<std::size_t N>
common::ComparisonResult< math::Matrix< N > >	CompareMatrices (const math::Matrix< N > &m1, const math::Matrix< N > &m2, double tolerance=0.0, CompareType compare_type=CompareType::kAbsolute)
	Evaluate that two matrices m1 and m2 are equal down to a certain tolerance. More...
template<std::size_t N, typename Derived >
Derived	operator* (const Matrix< N > &matrix, const VectorBase< N, Derived > vector)
	Product operator overload between a Matrix<N> and a VectorBase<N, Derived>. More...
OverlappingType	operator| (const OverlappingType &first, const OverlappingType &second)
OverlappingType	operator& (const OverlappingType &first, const OverlappingType &second)
std::ostream &	operator<< (std::ostream &os, const Quaternion &q)
	Serialization operator overload. More...
double	saturate (double x, double min, double max)
	When x is less than min, it returns min. More...
template<std::size_t N_>
Matrix< N_ >	operator* (const Matrix< N_ > &matrix, double k)
template<std::size_t N_>
Matrix< N_ >	operator* (double k, const Matrix< N_ > &matrix)
template<std::size_t N_>
std::ostream &	operator<< (std::ostream &os, const Matrix< N_ > &matrix)
template Matrix< 2 >	operator* (const Matrix< 2 > &, double)
template Matrix< 3 >	operator* (const Matrix< 3 > &, double)
template Matrix< 4 >	operator* (const Matrix< 4 > &, double)
template Matrix< 2 >	operator* (double, const Matrix< 2 > &)
template Matrix< 3 >	operator* (double, const Matrix< 3 > &)
template Matrix< 4 >	operator* (double, const Matrix< 4 > &)
template std::ostream &	operator<< (std::ostream &, const Matrix< 2 > &)
template std::ostream &	operator<< (std::ostream &, const Matrix< 3 > &)
template std::ostream &	operator<< (std::ostream &, const Matrix< 4 > &)
template Vector2	operator* (const Matrix< 2 > &matrix, const VectorBase< 2, Vector2 > vector)
template Vector3	operator* (const Matrix< 3 > &matrix, const VectorBase< 3, Vector3 > vector)
template Vector4	operator* (const Matrix< 4 > &matrix, const VectorBase< 4, Vector4 > vector)
template<std::size_t N_, typename Derived_ >
Derived_	operator* (const VectorBase< N_, Derived_ > &vector, double scalar)
template<std::size_t N_, typename Derived_ >
Derived_	operator* (double scalar, const VectorBase< N_, Derived_ > &vector)
template<std::size_t N_, typename Derived_ >
std::ostream &	operator<< (std::ostream &os, const VectorBase< N_, Derived_ > &vector)
template Vector< 1 >	operator* (const VectorBase< 1, Vector< 1 >> &, double)
template Vector< 1 >	operator* (double, const VectorBase< 1, Vector< 1 >> &)
template Vector< 2 >	operator* (const VectorBase< 2, Vector< 2 >> &, double)
template Vector< 2 >	operator* (double, const VectorBase< 2, Vector< 2 >> &)
template Vector< 3 >	operator* (const VectorBase< 3, Vector< 3 >> &, double)
template Vector< 3 >	operator* (double, const VectorBase< 3, Vector< 3 >> &)
template Vector< 4 >	operator* (const VectorBase< 4, Vector< 4 >> &, double)
template Vector< 4 >	operator* (double, const VectorBase< 4, Vector< 4 >> &)
template std::ostream &	operator<< (std::ostream &, const VectorBase< 1, Vector< 1 >> &)
template std::ostream &	operator<< (std::ostream &, const VectorBase< 2, Vector< 2 >> &)
template std::ostream &	operator<< (std::ostream &, const VectorBase< 3, Vector< 3 >> &)
template std::ostream &	operator<< (std::ostream &, const VectorBase< 4, Vector< 4 >> &)
template Vector2	operator* (const VectorBase< 2, Vector2 > &, double)
template Vector2	operator* (double, const VectorBase< 2, Vector2 > &)
template std::ostream &	operator<< (std::ostream &, const VectorBase< 2, Vector2 > &)
template Vector3	operator* (const VectorBase< 3, Vector3 > &, double)
template Vector3	operator* (double, const VectorBase< 3, Vector3 > &)
template std::ostream &	operator<< (std::ostream &, const VectorBase< 3, Vector3 > &)
template Vector4	operator* (const VectorBase< 4, Vector4 > &, double)
template Vector4	operator* (double, const VectorBase< 4, Vector4 > &)
template std::ostream &	operator<< (std::ostream &, const VectorBase< 4, Vector4 > &)

Typedef Documentation

Matrix2

using Matrix2 = Matrix<2>

Convinient alias declaration.

Matrix3

using Matrix3 = Matrix<3>

Matrix4

using Matrix4 = Matrix<4>

Enumeration Type Documentation

CompareType

enum CompareType

strong

Enumerator
kAbsolute
kRelative

OverlappingType

enum OverlappingType : unsigned int

strong

Holds the possible overlapping types between regions.

Given two sets A and B :

• A intersects B iff A and B have at least one point in common.
• A contains B iff A contains all the points of B.
• A disjoints B iff A and B have no points in common.
  • Example of use:

    OverlappingType MyMethod();
    ...
    if(OverlappingType::kIntersected & MyMethod() == OverlappingType::kIntersected) {
     // Do something.
    }

Enumerator
kDisjointed	No overlapping between bounding regions.
kIntersected	Bounding regions are intersected.
kContained	Bounding regions are contained.

Function Documentation

CompareMatrices()

common::ComparisonResult< math::Matrix< N > > CompareMatrices	(	const math::Matrix< N > &	m1,
		const math::Matrix< N > &	m2,
		double	tolerance = 0.0,
		CompareType	compare_type = CompareType::kAbsolute
	)

Evaluate that two matrices m1 and m2 are equal down to a certain tolerance.

Instantiations for comparing Matrix2, Matrix3 and Matrix4 are provided.

Parameters

m1	The first matrix to compare.
m2	The second matrix to compare.
tolerance	The tolerance for determining equivalence.
compare_type	Whether the tolerance is absolute or relative.

Returns

A ComparisonResult<Matrix<N>> object.

CompareVectors()

common::ComparisonResult< math::VectorBase< N, Derived > > CompareVectors	(	const math::VectorBase< N, Derived > &	v1,
		const math::VectorBase< N, Derived > &	v2,
		double	tolerance = 0.0,
		CompareType	compare_type = CompareType::kAbsolute
	)

Evaluate that two vectors v1 and v2 are equal down to a certain tolerance.

Instantiations for comparing Vector2, Vector3 and Vector4 are provided.

Parameters

v1	The first vector to compare.
v2	The second vector to compare.
tolerance	The tolerance for determining equivalence.
compare_type	Whether the tolerance is absolute or relative.

Returns

A ComparisonResult<VectorBase<N, Derived>> object.

operator&()

OverlappingType operator&	(	const OverlappingType &	first,
		const OverlappingType &	second
	)

operator*() [1/28]

template Matrix<2> maliput::math::operator*	(	const Matrix< 2 > &	,
		double
	)

operator*() [2/28]

template Vector2 maliput::math::operator*	(	const Matrix< 2 > &	matrix,
		const VectorBase< 2, Vector2 >	vector
	)

operator*() [3/28]

template Matrix<3> maliput::math::operator*	(	const Matrix< 3 > &	,
		double
	)

operator*() [4/28]

template Vector3 maliput::math::operator*	(	const Matrix< 3 > &	matrix,
		const VectorBase< 3, Vector3 >	vector
	)

operator*() [5/28]

template Matrix<4> maliput::math::operator*	(	const Matrix< 4 > &	,
		double
	)

operator*() [6/28]

template Vector4 maliput::math::operator*	(	const Matrix< 4 > &	matrix,
		const VectorBase< 4, Vector4 >	vector
	)

operator*() [7/28]

Derived operator*	(	const Matrix< N > &	matrix,
		const VectorBase< N, Derived >	vector
	)

Product operator overload between a Matrix<N> and a VectorBase<N, Derived>.

operator*() [8/28]

Matrix<N_> maliput::math::operator*	(	const Matrix< N_ > &	matrix,
		double	k
	)

operator*() [9/28]

template Vector<1> maliput::math::operator*	(	const VectorBase< 1, Vector< 1 >> &	,
		double
	)

operator*() [10/28]

template Vector2 maliput::math::operator*	(	const VectorBase< 2, Vector2 > &	,
		double
	)

operator*() [11/28]

template Vector<2> maliput::math::operator*	(	const VectorBase< 2, Vector< 2 >> &	,
		double
	)

operator*() [12/28]

template Vector3 maliput::math::operator*	(	const VectorBase< 3, Vector3 > &	,
		double
	)

operator*() [13/28]

template Vector<3> maliput::math::operator*	(	const VectorBase< 3, Vector< 3 >> &	,
		double
	)

operator*() [14/28]

template Vector4 maliput::math::operator*	(	const VectorBase< 4, Vector4 > &	,
		double
	)

operator*() [15/28]

template Vector<4> maliput::math::operator*	(	const VectorBase< 4, Vector< 4 >> &	,
		double
	)

operator*() [16/28]

Derived_ maliput::math::operator*	(	const VectorBase< N_, Derived_ > &	vector,
		double	scalar
	)

operator*() [17/28]

Matrix<N_> maliput::math::operator*	(	double	k,
		const Matrix< N_ > &	matrix
	)

operator*() [18/28]

Derived_ maliput::math::operator*	(	double	scalar,
		const VectorBase< N_, Derived_ > &	vector
	)

operator*() [19/28]

template Matrix<2> maliput::math::operator*	(	double	,
		const Matrix< 2 > &
	)

operator*() [20/28]

template Matrix<3> maliput::math::operator*	(	double	,
		const Matrix< 3 > &
	)

operator*() [21/28]

template Matrix<4> maliput::math::operator*	(	double	,
		const Matrix< 4 > &
	)

operator*() [22/28]

template Vector<1> maliput::math::operator*	(	double	,
		const VectorBase< 1, Vector< 1 >> &
	)

operator*() [23/28]

template Vector2 maliput::math::operator*	(	double	,
		const VectorBase< 2, Vector2 > &
	)

operator*() [24/28]

template Vector<2> maliput::math::operator*	(	double	,
		const VectorBase< 2, Vector< 2 >> &
	)

operator*() [25/28]

template Vector3 maliput::math::operator*	(	double	,
		const VectorBase< 3, Vector3 > &
	)

operator*() [26/28]

template Vector<3> maliput::math::operator*	(	double	,
		const VectorBase< 3, Vector< 3 >> &
	)

operator*() [27/28]

template Vector4 maliput::math::operator*	(	double	,
		const VectorBase< 4, Vector4 > &
	)

operator*() [28/28]

template Vector<4> maliput::math::operator*	(	double	,
		const VectorBase< 4, Vector< 4 >> &
	)

operator<<() [1/13]

template std::ostream& maliput::math::operator<<	(	std::ostream &	,
		const Matrix< 2 > &
	)

operator<<() [2/13]

template std::ostream& maliput::math::operator<<	(	std::ostream &	,
		const Matrix< 3 > &
	)

operator<<() [3/13]

template std::ostream& maliput::math::operator<<	(	std::ostream &	,
		const Matrix< 4 > &
	)

operator<<() [4/13]

template std::ostream& maliput::math::operator<<	(	std::ostream &	,
		const VectorBase< 1, Vector< 1 >> &
	)

operator<<() [5/13]

template std::ostream& maliput::math::operator<<	(	std::ostream &	,
		const VectorBase< 2, Vector2 > &
	)

operator<<() [6/13]

template std::ostream& maliput::math::operator<<	(	std::ostream &	,
		const VectorBase< 2, Vector< 2 >> &
	)

operator<<() [7/13]

template std::ostream& maliput::math::operator<<	(	std::ostream &	,
		const VectorBase< 3, Vector3 > &
	)

operator<<() [8/13]

template std::ostream& maliput::math::operator<<	(	std::ostream &	,
		const VectorBase< 3, Vector< 3 >> &
	)

operator<<() [9/13]

template std::ostream& maliput::math::operator<<	(	std::ostream &	,
		const VectorBase< 4, Vector4 > &
	)

operator<<() [10/13]

template std::ostream& maliput::math::operator<<	(	std::ostream &	,
		const VectorBase< 4, Vector< 4 >> &
	)

operator<<() [11/13]

std::ostream& maliput::math::operator<<	(	std::ostream &	os,
		const Matrix< N_ > &	matrix
	)

operator<<() [12/13]

std::ostream & operator<<	(	std::ostream &	os,
		const Quaternion &	q
	)

Serialization operator overload.

Parameters

os	The output stream to serialize q into.
q	A Quaternion.

Returns

os.

operator<<() [13/13]

std::ostream& maliput::math::operator<<	(	std::ostream &	os,
		const VectorBase< N_, Derived_ > &	vector
	)

operator|()

OverlappingType operator|	(	const OverlappingType &	first,
		const OverlappingType &	second
	)

saturate()

double saturate	(	double	x,
		double	min,
		double	max
	)

When x is less than min, it returns min.

When x is greater than max, it returns max. Otherwise, it returns x.

Exceptions

common::assertion_error

When min is greater than max.