utils Namespace Reference

Classes
struct	PolynomialBase
struct	CubicPolynomialBase
struct	CubicPolynomial
struct	CubicPolynomial< double >
struct	CubicHermitePolynomial
struct	HoubaPolynomial
struct	QuinticPolynomialBase
struct	QuinticPolynomial
struct	QuinticPolynomial< double >
struct	QuinticHermitePolynomial
struct	RetimedPolynomial

Functions
double	clamp (double v, double vMin, double vMax)
void	clampInPlace (double &v, double vMin, double vMax)
double	clamp (double v, double vMin, double vMax, const char *label)
void	clampInPlace (double &v, double vMin, double vMax, const char *label)
Eigen::Matrix3d	slerp (const Eigen::Matrix3d &from, const Eigen::Matrix3d &to, double t)

Detailed Description

Utility functions and classes.

Function Documentation

clamp() [1/2]

double utils::clamp ( double  v, double  vMin, double  vMax  )

inline

Clamp a value in a given interval.

Parameters

v	Value.
vMin	Lower bound.
vMax	Upper bound.

Definition at line 47 of file clamp.h.

clamp() [2/2]

double utils::clamp ( double  v, double  vMin, double  vMax, const char *  label  )

inline

Clamp a value in a given interval, issuing a warning when bounds are hit.

Parameters

v	Value.
vMin	Lower bound.
vMax	Upper bound.
label	Name of clamped value.

Definition at line 95 of file clamp.h.

clampInPlace() [1/2]

void utils::clampInPlace ( double &  v, double  vMin, double  vMax  )

inline

Clamp a value in a given interval.

Parameters

v	Reference to value.
vMin	Lower bound.
vMax	Upper bound.

Definition at line 72 of file clamp.h.

clampInPlace() [2/2]

void utils::clampInPlace ( double &  v, double  vMin, double  vMax, const char *  label  )

inline

Clamp a value in a given interval, issuing a warning when bounds are hit.

Parameters

v	Reference to value.
vMin	Lower bound.
vMax	Upper bound.
label	Name of clamped value.

Definition at line 124 of file clamp.h.

slerp()

Eigen::Matrix3d utils::slerp ( const Eigen::Matrix3d &  from, const Eigen::Matrix3d &  to, double  t  )

inline

Spherical linear interpolation between two rotation matrices.

Parameters

from	First rotation matrix.
to	Second rotation matrix.
t	Interpolation index.

Returns

R Interpolation between those two matrices.

See https://en.wikipedia.org/wiki/Slerp.

Definition at line 48 of file slerp.h.