maliput::math Namespace Reference

Detailed Description

Namespace to group basic mathematical and geometric support to maliput.

Namespaces
	details
	test

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	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 >
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

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

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.