xrt::auxiliary::math Namespace Reference

C++-only functionality in the Math helper library. More...

Data Structures
class	IntegerLowPassIIRFilter
	A very simple integer low-pass filter, using a "one-pole infinite impulse response" design (one-pole IIR), also known as an exponential filter. More...
class	LowPassIIRFilter
	A very simple low-pass filter, using a "one-pole infinite impulse response" design (one-pole IIR). More...
class	LowPassIIRVectorFilter
	A very simple low-pass filter, using a "one-pole infinite impulse response" design (one-pole IIR). More...
struct	Rational
	A rational (fractional) number type. More...

Functions
static Eigen::Map< const Eigen::Quaternionf >	map_quat (const struct xrt_quat &q)
	Wrap an internal quaternion struct in an Eigen type, const overload. More...
static Eigen::Map< Eigen::Quaternionf >	map_quat (struct xrt_quat &q)
	Wrap an internal quaternion struct in an Eigen type, non-const overload. More...
static Eigen::Map< const Eigen::Vector3f >	map_vec3 (const struct xrt_vec3 &v)
	Wrap an internal 3D vector struct in an Eigen type, const overload. More...
static Eigen::Map< Eigen::Vector3f >	map_vec3 (struct xrt_vec3 &v)
	Wrap an internal 3D vector struct in an Eigen type, non-const overload. More...
static Eigen::Map< const Eigen::Vector3d >	map_vec3_f64 (const struct xrt_vec3_f64 &v)
	Wrap an internal 3D vector struct in an Eigen type, non-const overload. More...
static Eigen::Map< Eigen::Vector3d >	map_vec3_f64 (struct xrt_vec3_f64 &v)
	Wrap an internal 3D vector struct in an Eigen type, non-const overload. More...
static Eigen::Map< const Eigen::Matrix3f >	map_matrix_3x3 (const struct xrt_matrix_3x3 &m)
	Wrap an internal 3x3 matrix struct in an Eigen type, const overload. More...
static Eigen::Map< Eigen::Matrix3f >	map_matrix_3x3 (struct xrt_matrix_3x3 &m)
	Wrap an internal 3x3 matrix struct in an Eigen type, non-const overload. More...
static Eigen::Map< Eigen::Matrix3d >	map_matrix_3x3_f64 (struct xrt_matrix_3x3_f64 &m)
	Wrap an internal 3x3 matrix struct in an Eigen type, non-const overload. More...
static Eigen::Map< const Eigen::Matrix4f >	map_matrix_4x4 (const struct xrt_matrix_4x4 &m)
	Wrap an internal 4x4 matrix struct in an Eigen type, const overload. More...
static Eigen::Map< Eigen::Matrix4f >	map_matrix_4x4 (struct xrt_matrix_4x4 &m)
	Wrap an internal 4x4 matrix struct in an Eigen type, non-const overload. More...
static Eigen::Map< const Eigen::Matrix4d >	map_matrix_4x4_f64 (const struct xrt_matrix_4x4_f64 &m)
	Wrap an internal 4x4 matrix f64 struct in an Eigen type, const overload. More...
static Eigen::Map< Eigen::Matrix4d >	map_matrix_4x4_f64 (struct xrt_matrix_4x4_f64 &m)
	Wrap an internal 4x4 matrix struct in an Eigen type, non-const overload. More...
static Eigen::Map< const Eigen::Quaternionf >	orientation (const struct xrt_pose &pose)
	Return a Eigen type wrapping a pose's orientation (const). More...
static Eigen::Map< Eigen::Quaternionf >	orientation (struct xrt_pose &pose)
	Return a Eigen type wrapping a pose's orientation. More...
static Eigen::Map< const Eigen::Vector3f >	position (const struct xrt_pose &pose)
	Return a Eigen type wrapping a pose's position (const). More...
static Eigen::Map< Eigen::Vector3f >	position (struct xrt_pose &pose)
	Return a Eigen type wrapping a pose's position. More...

Detailed Description

C++-only functionality in the Math helper library.

Function Documentation

map_matrix_3x3() [1/2]

static Eigen::Map< const Eigen::Matrix3f > xrt::auxiliary::math::map_matrix_3x3 ( const struct xrt_matrix_3x3 &  m )

inlinestatic

Wrap an internal 3x3 matrix struct in an Eigen type, const overload.

Permits zero-overhead manipulation of xrt_matrix_3x3& by Eigen routines as if it were a Eigen::Matrix3f&.

Referenced by math_matrix_3x3_identity(), xrt_matrix_4x4::math_matrix_3x3_rotation_from_isometry(), and xrt_matrix_4x4::math_matrix_4x4_isometry_from_rt().

map_matrix_3x3() [2/2]

static Eigen::Map< Eigen::Matrix3f > xrt::auxiliary::math::map_matrix_3x3 ( struct xrt_matrix_3x3 &  m )

inlinestatic

Wrap an internal 3x3 matrix struct in an Eigen type, non-const overload.

Permits zero-overhead manipulation of xrt_matrix_3x3& by Eigen routines as if it were a Eigen::Matrix3f&.

map_matrix_3x3_f64()

static Eigen::Map< Eigen::Matrix3d > xrt::auxiliary::math::map_matrix_3x3_f64 ( struct xrt_matrix_3x3_f64 &  m )

inlinestatic

Wrap an internal 3x3 matrix struct in an Eigen type, non-const overload.

Permits zero-overhead manipulation of xrt_matrix_3x3& by Eigen routines as if it were a Eigen::Matrix3_f64&.

Referenced by math_matrix_3x3_f64_identity().

map_matrix_4x4() [1/2]

static Eigen::Map< const Eigen::Matrix4f > xrt::auxiliary::math::map_matrix_4x4 ( const struct xrt_matrix_4x4 &  m )

inlinestatic

Wrap an internal 4x4 matrix struct in an Eigen type, const overload.

Permits zero-overhead manipulation of xrt_matrix_4x4& by Eigen routines as if it were a Eigen::Matrix4f&.

Referenced by xrt_matrix_4x4::math_matrix_3x3_rotation_from_isometry(), xrt_matrix_4x4::math_matrix_4x4_identity(), xrt_matrix_4x4::math_matrix_4x4_isometry_from_pose(), xrt_matrix_4x4::math_matrix_4x4_isometry_from_rt(), xrt_matrix_4x4::math_matrix_4x4_multiply(), xrt_pose::math_pose_from_isometry(), and xrt_vec3::math_vec3_translation_from_isometry().

map_matrix_4x4() [2/2]

static Eigen::Map< Eigen::Matrix4f > xrt::auxiliary::math::map_matrix_4x4 ( struct xrt_matrix_4x4 &  m )

inlinestatic

Wrap an internal 4x4 matrix struct in an Eigen type, non-const overload.

Permits zero-overhead manipulation of xrt_matrix_4x4& by Eigen routines as if it were a Eigen::Matrix4f&.

map_matrix_4x4_f64() [1/2]

static Eigen::Map< const Eigen::Matrix4d > xrt::auxiliary::math::map_matrix_4x4_f64 ( const struct xrt_matrix_4x4_f64 &  m )

inlinestatic

Wrap an internal 4x4 matrix f64 struct in an Eigen type, const overload.

Permits zero-overhead manipulation of const xrt_matrix_4x4_f64& by Eigen routines as if it were a const Eigen::Matrix4d&.

Referenced by xrt_matrix_4x4_f64::m_mat4_f64_identity(), xrt_matrix_4x4_f64::m_mat4_f64_invert(), xrt_matrix_4x4_f64::m_mat4_f64_multiply(), and xrt_matrix_4x4_f64::m_mat4_f64_orientation().

map_matrix_4x4_f64() [2/2]

static Eigen::Map< Eigen::Matrix4d > xrt::auxiliary::math::map_matrix_4x4_f64 ( struct xrt_matrix_4x4_f64 &  m )

inlinestatic

Wrap an internal 4x4 matrix struct in an Eigen type, non-const overload.

Permits zero-overhead manipulation of xrt_matrix_4x4_f64& by Eigen routines as if it were a Eigen::Matrix4d&.

map_quat() [1/2]

static Eigen::Map< const Eigen::Quaternionf > xrt::auxiliary::math::map_quat ( const struct xrt_quat &  q )

inlinestatic

Wrap an internal quaternion struct in an Eigen type, const overload.

Permits zero-overhead manipulation of const xrt_quat& by Eigen routines as if it were a const Eigen::Quaternionf&.

Referenced by imu_fusion::imu_fusion_get_prediction(), xrt_quat::math_quat_exp(), xrt_quat::math_quat_finite_difference(), xrt_quat::math_quat_from_angle_vector(), xrt_quat::math_quat_from_euler_angles(), xrt_quat::math_quat_from_matrix_3x3(), xrt_quat::math_quat_from_vec_a_to_vec_b(), xrt_quat::math_quat_integrate_velocity(), xrt_quat::math_quat_invert(), xrt_quat::math_quat_len(), xrt_quat::math_quat_ln(), xrt_quat::math_quat_normalize(), xrt_quat::math_quat_to_swing_twist(), and orientation().

map_quat() [2/2]

static Eigen::Map< Eigen::Quaternionf > xrt::auxiliary::math::map_quat ( struct xrt_quat &  q )

inlinestatic

Wrap an internal quaternion struct in an Eigen type, non-const overload.

Permits zero-overhead manipulation of xrt_quat& by Eigen routines as if it were a Eigen::Quaternionf&.

map_vec3() [1/2]

static Eigen::Map< const Eigen::Vector3f > xrt::auxiliary::math::map_vec3 ( const struct xrt_vec3 &  v )

inlinestatic

Wrap an internal 3D vector struct in an Eigen type, const overload.

Permits zero-overhead manipulation of const xrt_vec3& by Eigen routines as if it were a const Eigen::Vector3f&.

Referenced by imu_fusion::imu_fusion_get_prediction(), imu_fusion::imu_fusion_get_prediction_rotation_vec(), imu_fusion::imu_fusion_incorporate_accelerometer(), imu_fusion::imu_fusion_incorporate_gyros(), imu_fusion::imu_fusion_incorporate_gyros_and_accelerometer(), math_matrix_3x3_transform_vec3(), xrt_matrix_4x4::math_matrix_4x4_isometry_from_rt(), xrt_pose::math_pose_transform_point(), xrt_quat::math_quat_exp(), xrt_quat::math_quat_finite_difference(), xrt_quat::math_quat_integrate_velocity(), xrt_quat::math_quat_ln(), xrt_vec3::math_vec3_accum(), xrt_vec3::math_vec3_cross(), xrt_vec3::math_vec3_normalize(), xrt_vec3::math_vec3_scalar_mul(), xrt_vec3::math_vec3_subtract(), xrt_vec3::math_vec3_translation_from_isometry(), xrt_vec3::math_vec3_validate(), position(), and transform_point().

map_vec3() [2/2]

static Eigen::Map< Eigen::Vector3f > xrt::auxiliary::math::map_vec3 ( struct xrt_vec3 &  v )

inlinestatic

Wrap an internal 3D vector struct in an Eigen type, non-const overload.

Permits zero-overhead manipulation of xrt_vec3& by Eigen routines as if it were a Eigen::Vector3f&.

map_vec3_f64() [1/2]

static Eigen::Map< const Eigen::Vector3d > xrt::auxiliary::math::map_vec3_f64 ( const struct xrt_vec3_f64 &  v )

inlinestatic

Wrap an internal 3D vector struct in an Eigen type, non-const overload.

Permits zero-overhead manipulation of xrt_vec3& by Eigen routines as if it were a const Eigen::Vector3_f64&.

Referenced by math_matrix_3x3_f64_transform_vec3_f64(), xrt_vec3_f64::math_vec3_f64_cross(), and xrt_vec3_f64::math_vec3_f64_normalize().

map_vec3_f64() [2/2]

static Eigen::Map< Eigen::Vector3d > xrt::auxiliary::math::map_vec3_f64 ( struct xrt_vec3_f64 &  v )

inlinestatic

Wrap an internal 3D vector struct in an Eigen type, non-const overload.

Permits zero-overhead manipulation of xrt_vec3& by Eigen routines as if it were a Eigen::Vector3_f64&.

orientation() [1/2]

static Eigen::Map< const Eigen::Quaternionf > xrt::auxiliary::math::orientation ( const struct xrt_pose &  pose )

inlinestatic

Return a Eigen type wrapping a pose's orientation (const).

References map_quat().

Referenced by xrt_matrix_4x4::math_matrix_4x4_isometry_from_pose(), xrt_pose::math_pose_from_isometry(), xrt_pose::math_pose_invert(), transform_point(), and transform_pose().

orientation() [2/2]

static Eigen::Map< Eigen::Quaternionf > xrt::auxiliary::math::orientation ( struct xrt_pose &  pose )

inlinestatic

Return a Eigen type wrapping a pose's orientation.

References map_quat().

position() [1/2]

static Eigen::Map< const Eigen::Vector3f > xrt::auxiliary::math::position ( const struct xrt_pose &  pose )

inlinestatic

Return a Eigen type wrapping a pose's position (const).

References map_vec3().

Referenced by xrt_matrix_4x4_f64::m_mat4_f64_model(), xrt_matrix_4x4::math_matrix_4x4_isometry_from_pose(), xrt_matrix_4x4::math_matrix_4x4_model(), xrt_matrix_4x4::math_matrix_4x4_view_from_pose(), xrt_pose::math_pose_from_isometry(), xrt_pose::math_pose_invert(), transform_point(), and transform_pose().

position() [2/2]

static Eigen::Map< Eigen::Vector3f > xrt::auxiliary::math::position ( struct xrt_pose &  pose )

inlinestatic

Return a Eigen type wrapping a pose's position.

References map_vec3().