Visual Servoing Platform  version 3.0.0
Public Member Functions | Static Public Member Functions | List of all members
vpMath Class Reference
core: Core module » Mathematics » Other tools

#include <visp3/core/vpMath.h>

Public Member Functions

template<>
unsigned char saturate (char v)
 
template<>
unsigned char saturate (unsigned short v)
 
template<>
unsigned char saturate (int v)
 
template<>
unsigned char saturate (short v)
 
template<>
unsigned char saturate (unsigned int v)
 
template<>
unsigned char saturate (float v)
 
template<>
unsigned char saturate (double v)
 
template<>
char saturate (unsigned char v)
 
template<>
char saturate (unsigned short v)
 
template<>
char saturate (int v)
 
template<>
char saturate (short v)
 
template<>
char saturate (unsigned int v)
 
template<>
char saturate (float v)
 
template<>
char saturate (double v)
 
template<>
unsigned short saturate (char v)
 
template<>
unsigned short saturate (short v)
 
template<>
unsigned short saturate (int v)
 
template<>
unsigned short saturate (unsigned int v)
 
template<>
unsigned short saturate (float v)
 
template<>
unsigned short saturate (double v)
 
template<>
short saturate (unsigned short v)
 
template<>
short saturate (int v)
 
template<>
short saturate (unsigned int v)
 
template<>
short saturate (float v)
 
template<>
short saturate (double v)
 
template<>
int saturate (float v)
 
template<>
int saturate (double v)
 
template<>
unsigned int saturate (float v)
 
template<>
unsigned int saturate (double v)
 

Static Public Member Functions

static double deg (double rad)
 
static double rad (double deg)
 
static double sqr (double x)
 
static double fact (unsigned int x)
 
static long double comb (unsigned int n, unsigned int p)
 
static int round (const double x)
 
static int sign (double x)
 
static bool nul (double x, double s=0.001)
 
static bool equal (double x, double y, double s=0.001)
 
static bool greater (double x, double y, double s=0.001)
 
template<class Type >
static Type maximum (const Type &a, const Type &b)
 
template<class Type >
static Type minimum (const Type &a, const Type &b)
 
template<class Type >
static Type abs (const Type &x)
 
static double sinc (double x)
 
static double sinc (double sinx, double x)
 
static double mcosc (double cosx, double x)
 
static double msinc (double sinx, double x)
 
static double sigmoid (double x, double x0=0., double x1=1., double n=12.)
 
template<class Type >
static void swap (Type &a, Type &b)
 
static bool isNaN (const double value)
 
static bool isInf (const double value)
 
template<typename _Tp >
static _Tp saturate (unsigned char v)
 
template<typename _Tp >
static _Tp saturate (char v)
 
template<typename _Tp >
static _Tp saturate (unsigned short v)
 
template<typename _Tp >
static _Tp saturate (short v)
 
template<typename _Tp >
static _Tp saturate (unsigned v)
 
template<typename _Tp >
static _Tp saturate (int v)
 
template<typename _Tp >
static _Tp saturate (float v)
 
template<typename _Tp >
static _Tp saturate (double v)
 
static double getMean (const std::vector< double > &v)
 
static double getMedian (const std::vector< double > &v)
 
static double getStdev (const std::vector< double > &v, const bool useBesselCorrection=false)
 

Detailed Description

Provides simple mathematics computation tools that are not available in the C mathematics library (math.h)

Author
Eric Marchand (Eric..nosp@m.Marc.nosp@m.hand@.nosp@m.iris.nosp@m.a.fr) Irisa / Inria Rennes

Definition at line 87 of file vpMath.h.

Member Function Documentation

template<class Type >
static Type vpMath::abs ( const Type &  x)
inlinestatic

Find the absolute value of a number (or other).

Parameters
x: The number.
Returns
The absolute value of x

Definition at line 162 of file vpMath.h.

Referenced by vpServo::secondaryTaskJointLimitAvoidance(), and vpMeNurbs::seekExtremities().

long double vpMath::comb ( unsigned int  n,
unsigned int  p 
)
inlinestatic

Computes the number of combination of p elements inside n elements.

Parameters
n: total number of elements.
p: requested number of elements.
Returns
$ n! / ((n-p)! p!) $

Definition at line 233 of file vpMath.h.

References fact().

Referenced by vpMomentCentered::compute(), vpMomentAlpha::compute(), vpFeatureMomentCentered::compute_Lmu_pq(), vpNurbs::computeCurveDersPoint(), and vpPixelMeterConversion::convertMoment().

static double vpMath::deg ( double  rad)
inlinestatic

Convert an angle in radians into degrees.

Parameters
rad: Angle in radians.
Returns
Angle converted in degrees.
Examples:
calibrateTsai.cpp, moveBiclops.cpp, movePioneer.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, sonarPioneerReader.cpp, testPose.cpp, testRobotAfma6Pose.cpp, testRobotViper850.cpp, testRobotViper850Pose.cpp, testViper850.cpp, trackMeLine.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 97 of file vpMath.h.

Referenced by vpMbEdgeTracker::computeProjectionError(), vpAfma6::getInverseKinematics(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), vpFeatureSegment::print(), vpPoseVector::print(), vpServoData::save(), vpSimulatorAfma6::savePosFile(), vpSimulatorViper850::savePosFile(), vpRobotAfma4::savePosFile(), vpRobotAfma6::savePosFile(), vpRobotViper850::savePosFile(), vpRobotViper650::savePosFile(), vpRobotViper850::setPosition(), vpRobotViper650::setPosition(), vpRobotPioneer::setVelocity(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), and vpRobotBiclops::vpRobotBiclopsSpeedControlLoop().

bool vpMath::equal ( double  x,
double  y,
double  s = 0.001 
)
inlinestatic

Compares $ | x - y | $ to $ s $.

Parameters
x: x value.
y: y value.
s: Tolerance threshold.
Returns
true if $ | x - y | < s $.
Examples:
testColVector.cpp, testKeyPoint-7.cpp, testMath.cpp, and testRowVector.cpp.

Definition at line 297 of file vpMath.h.

References nul().

double vpMath::fact ( unsigned int  x)
inlinestatic

Computes and returns x!

Parameters
x: parameter of factorial function.

Definition at line 219 of file vpMath.h.

Referenced by comb().

double vpMath::getMean ( const std::vector< double > &  v)
static

Compute the mean value for a vector of double.

Parameters
v: Vector of double values.
Returns
The mean value.
Examples:
testMath.cpp.

Definition at line 196 of file vpMath.cpp.

References vpException::notInitialized.

Referenced by getStdev().

double vpMath::getMedian ( const std::vector< double > &  v)
static

Compute the median value for a vector of double.

Parameters
v: Vector of double values.
Returns
The median value.
Examples:
testMath.cpp.

Definition at line 217 of file vpMath.cpp.

References vpException::notInitialized.

Referenced by vpRowVector::median(), and vpColVector::median().

double vpMath::getStdev ( const std::vector< double > &  v,
const bool  useBesselCorrection = false 
)
static

Compute the standard deviation value for a vector of double.

Parameters
v: Vector of double values.
useBesselCorrection: If true, the Bessel correction is used (normalize by N-1).
Returns
The standard deviation value.
Examples:
testMath.cpp.

Definition at line 245 of file vpMath.cpp.

References getMean(), and vpException::notInitialized.

bool vpMath::greater ( double  x,
double  y,
double  s = 0.001 
)
inlinestatic

Compares $ x $ to $ y - s $.

Parameters
x: x value.
y: y value.
s: Tolerance threshold.
Returns
true if $ x > y - s $.

Definition at line 309 of file vpMath.h.

bool vpMath::isInf ( const double  value)
static

Returns whether a double is an infinity value (either positive infinity or negative infinity).

Parameters
value: Double number to check.
Returns
Return true if value is infinity.
Examples:
testMath.cpp.

Definition at line 111 of file vpMath.cpp.

bool vpMath::isNaN ( const double  value)
static

Check whether a double number is not a number (NaN) or not.

Parameters
value: Double number to check.
Returns
Return true if value is not a number.
Examples:
testMath.cpp.

Definition at line 84 of file vpMath.cpp.

Referenced by vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpMbtDistanceKltCylinder::init(), and vpPose::poseRansac().

template<class Type >
static Type vpMath::maximum ( const Type &  a,
const Type &  b 
)
inlinestatic

Find the maximum between two numbers (or other).

Parameters
a: First number.
b: Second number.
Returns
The maximum of the two numbers.

Definition at line 141 of file vpMath.h.

Referenced by vpMbEdgeTracker::addCircle(), vpMbEdgeTracker::addCylinder(), vpMbTracker::extractCylinders(), vpBSpline::findSpan(), vpRobotWireFrameSimulator::getExternalCameraParameters(), vpWireFrameSimulator::getExternalCameraParameters(), vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalCameraParameters(), vpWireFrameSimulator::getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpImageTools::imageDifference(), vpMeNurbs::localReSample(), vpForceTwistMatrix::print(), vpVelocityTwistMatrix::print(), vpRowVector::print(), vpPoseVector::print(), vpColVector::print(), vpMatrix::print(), vpRansac< vpTransformation >::ransac(), vpDot2::searchDotsInArea(), vpMeNurbs::seekExtremitiesCanny(), and vpRobotBiclops::vpRobotBiclopsSpeedControlLoop().

double vpMath::mcosc ( double  cosx,
double  x 
)
static

Compute $ (1-cos(x))/x^2 $

Parameters
cosx: Value of cos(x).
x: Value of x.
Returns
$ (1-cosx)/x^2 $

Definition at line 137 of file vpMath.cpp.

Referenced by vpRotationMatrix::buildFrom(), vpExponentialMap::direct(), and vpExponentialMap::inverse().

template<class Type >
static Type vpMath::minimum ( const Type &  a,
const Type &  b 
)
inlinestatic

Find the minimum between two numbers (or other).

Parameters
a: First number.
b: Second number.
Returns
The minimum of the two numbers.

Definition at line 152 of file vpMath.h.

Referenced by vpRobotWireFrameSimulator::getExternalCameraParameters(), vpWireFrameSimulator::getExternalCameraParameters(), vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalCameraParameters(), vpWireFrameSimulator::getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpImageTools::imageDifference(), vpIoTools::loadConfigFile(), vpWireFrameSimulator::navigation(), vpRansac< vpTransformation >::ransac(), and vpMbEdgeTracker::testTracking().

double vpMath::msinc ( double  sinx,
double  x 
)
static

Compute $ (1-sinc(x))/x^2 $ with $ sinc(x) = sinx / x $.

Parameters
sinx: value of sin(x).
x: Value of x.
Returns
$ (1-sinc(x))/x^2 $

Definition at line 153 of file vpMath.cpp.

Referenced by vpExponentialMap::direct(), and vpExponentialMap::inverse().

bool vpMath::nul ( double  x,
double  s = 0.001 
)
inlinestatic

Compares $ | x | $ to $ s $.

Parameters
x: Value to test.
s: Tolerance threshold
Returns
true if $ | x | < s $.

Definition at line 285 of file vpMath.h.

Referenced by equal(), vpQuaternionVector::inverse(), vpQuaternionVector::normalize(), and vpQuaternionVector::operator/().

static double vpMath::rad ( double  deg)
inlinestatic

Convert an angle in degrees into radian.

Parameters
deg: Angle in degrees.
Returns
Angle converted in radian.
Examples:
calibrateTsai.cpp, exponentialMap.cpp, homographyHartleyDLT2DObject.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyRansac2DObject.cpp, manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, mbtEdgeKltTracking.cpp, mbtKltTracking.cpp, moveAfma4.cpp, moveBiclops.cpp, movePtu46.cpp, photometricVisualServoing.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuSphere.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuThetaUCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, sonarPioneerReader.cpp, testDisplacement.cpp, testFeatureSegment.cpp, testFindMatch.cpp, testKalmanAcceleration.cpp, testKalmanVelocity.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, testMatrix.cpp, testPose.cpp, testPoseFeatures.cpp, testPoseVector.cpp, testViper850.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-ibvs-4pts.cpp, tutorial-image-simulator.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, and wireframeSimulator.cpp.

Definition at line 104 of file vpMath.h.

Referenced by vpMbTracker::addPolygon(), vpMeEllipse::display(), vpDisplay::displayEllipse(), vpRobotViper650::get_eJe(), vpRobotViper850::get_eJe(), vpAfma6::getInverseKinematics(), vpViper::getInverseKinematicsWrist(), vpRobotViper650::getPosition(), vpRobotViper850::getPosition(), vpRobotPioneer::getVelocity(), vpViper850::init(), vpViper650::init(), vpAfma6::init(), vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpMeEllipse::initTracking(), vpMbtPolygon::isVisible(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), vpWireFrameSimulator::navigation(), vpSimulatorAfma6::readPosFile(), vpRobotAfma4::readPosFile(), vpRobotAfma6::readPosFile(), vpRobotPtu46::readPositionFile(), vpRobotBiclops::readPositionFile(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), vpMbEdgeTracker::vpMbEdgeTracker(), vpMbKltTracker::vpMbKltTracker(), vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(), vpSickLDMRS::vpSickLDMRS(), vpViper::vpViper(), vpViper650::vpViper650(), vpViper850::vpViper850(), and vpWireFrameSimulator::vpWireFrameSimulator().

int vpMath::round ( const double  x)
inlinestatic

Round x to the nearest integer.

Parameters
x: Value to round.
Returns
Nearest integer of x.
Examples:
testMath.cpp.

Definition at line 248 of file vpMath.h.

Referenced by vpMeLine::computeRhoTheta(), vpMeSite::convolution(), vpKeyPoint::createImageMatching(), vpKltOpencv::display(), vpDisplayGTK::displayCharString(), vpDisplayOpenCV::displayCharString(), vpDisplayGTK::displayCircle(), vpDisplayX::displayCircle(), vpDisplayOpenCV::displayCircle(), vpDisplayGTK::displayDotLine(), vpDisplayX::displayDotLine(), vpDisplayOpenCV::displayDotLine(), vpDisplayGTK::displayLine(), vpDisplayX::displayLine(), vpDisplayOpenCV::displayLine(), vpKeyPoint::displayMatching(), vpDisplayGTK::displayPoint(), vpDisplayX::displayPoint(), vpMbtDistanceKltPoints::displayPrimitive(), vpMbtDistanceKltCylinder::displayPrimitive(), vpDisplayGTK::displayRectangle(), vpDisplayX::displayRectangle(), vpDisplayOpenCV::displayRectangle(), vpBSpline::findSpan(), vpMeSite::getSign(), vpImage< unsigned char >::getValue(), vpImage< vpRGBa >::getValue(), vpMeSite::init(), vpMeLine::initTracking(), vpKeyPoint::insertImageMatching(), vpMeTracker::outOfImage(), vpMeLine::sample(), saturate(), vpMeLine::updateDelta(), and vpMeSite::vpMeSite().

template<typename _Tp >
static _Tp vpMath::saturate ( unsigned char  v)
inlinestatic

Definition at line 193 of file vpMath.h.

template<typename _Tp >
static _Tp vpMath::saturate ( char  v)
inlinestatic

Definition at line 194 of file vpMath.h.

template<typename _Tp >
static _Tp vpMath::saturate ( unsigned short  v)
inlinestatic

Definition at line 195 of file vpMath.h.

template<typename _Tp >
static _Tp vpMath::saturate ( short  v)
inlinestatic

Definition at line 196 of file vpMath.h.

template<typename _Tp >
static _Tp vpMath::saturate ( unsigned  v)
inlinestatic

Definition at line 197 of file vpMath.h.

template<typename _Tp >
static _Tp vpMath::saturate ( int  v)
inlinestatic

Definition at line 198 of file vpMath.h.

template<typename _Tp >
static _Tp vpMath::saturate ( float  v)
inlinestatic

Definition at line 199 of file vpMath.h.

template<typename _Tp >
static _Tp vpMath::saturate ( double  v)
inlinestatic

Definition at line 200 of file vpMath.h.

template<>
unsigned char vpMath::saturate ( char  v)
inline

Definition at line 336 of file vpMath.h.

template<>
unsigned char vpMath::saturate ( unsigned short  v)
inline

Definition at line 340 of file vpMath.h.

template<>
unsigned char vpMath::saturate ( int  v)
inline

Definition at line 344 of file vpMath.h.

template<>
unsigned char vpMath::saturate ( short  v)
inline

Definition at line 348 of file vpMath.h.

template<>
unsigned char vpMath::saturate ( unsigned int  v)
inline

Definition at line 352 of file vpMath.h.

template<>
unsigned char vpMath::saturate ( float  v)
inline

Definition at line 356 of file vpMath.h.

References round().

template<>
unsigned char vpMath::saturate ( double  v)
inline

Definition at line 361 of file vpMath.h.

References round().

template<>
char vpMath::saturate ( unsigned char  v)
inline

Definition at line 367 of file vpMath.h.

template<>
char vpMath::saturate ( unsigned short  v)
inline

Definition at line 371 of file vpMath.h.

template<>
char vpMath::saturate ( int  v)
inline

Definition at line 375 of file vpMath.h.

template<>
char vpMath::saturate ( short  v)
inline

Definition at line 380 of file vpMath.h.

template<>
char vpMath::saturate ( unsigned int  v)
inline

Definition at line 384 of file vpMath.h.

template<>
char vpMath::saturate ( float  v)
inline

Definition at line 388 of file vpMath.h.

References round().

template<>
char vpMath::saturate ( double  v)
inline

Definition at line 393 of file vpMath.h.

References round().

template<>
unsigned short vpMath::saturate ( char  v)
inline

Definition at line 399 of file vpMath.h.

template<>
unsigned short vpMath::saturate ( short  v)
inline

Definition at line 403 of file vpMath.h.

template<>
unsigned short vpMath::saturate ( int  v)
inline

Definition at line 407 of file vpMath.h.

template<>
unsigned short vpMath::saturate ( unsigned int  v)
inline

Definition at line 412 of file vpMath.h.

template<>
unsigned short vpMath::saturate ( float  v)
inline

Definition at line 416 of file vpMath.h.

References round().

template<>
unsigned short vpMath::saturate ( double  v)
inline

Definition at line 421 of file vpMath.h.

References round().

template<>
short vpMath::saturate ( unsigned short  v)
inline

Definition at line 427 of file vpMath.h.

template<>
short vpMath::saturate ( int  v)
inline

Definition at line 430 of file vpMath.h.

template<>
short vpMath::saturate ( unsigned int  v)
inline

Definition at line 434 of file vpMath.h.

template<>
short vpMath::saturate ( float  v)
inline

Definition at line 437 of file vpMath.h.

References round().

template<>
short vpMath::saturate ( double  v)
inline

Definition at line 441 of file vpMath.h.

References round().

template<>
int vpMath::saturate ( float  v)
inline

Definition at line 447 of file vpMath.h.

References round().

template<>
int vpMath::saturate ( double  v)
inline

Definition at line 451 of file vpMath.h.

References round().

template<>
unsigned int vpMath::saturate ( float  v)
inline

Definition at line 457 of file vpMath.h.

References round().

template<>
unsigned int vpMath::saturate ( double  v)
inline

Definition at line 461 of file vpMath.h.

References round().

double vpMath::sigmoid ( double  x,
double  x0 = 0.,
double  x1 = 1.,
double  n = 12. 
)
inlinestatic

Sigmoid function between [x0,x1] with $ s(x)=0 if x\le x0$ and $ s(x)=1 if x \ge x1 $

Parameters
x: Value of x.
x0: Lower bound (default 0).
x1: Upper bound (default 1).
n: Degree of the exponential (default 12).
Returns
$1/(1+exp(-n*((x-x0)/(x1-x0)-0.5)))$

Definition at line 324 of file vpMath.h.

int vpMath::sign ( double  x)
inlinestatic

Return the sign of x.

Returns
-1 if x is negative, +1 if positive and 0 if zero.

Definition at line 266 of file vpMath.h.

Referenced by vpMbEdgeTracker::computeVVS(), and vpMeNurbs::seekExtremities().

double vpMath::sinc ( double  x)
static

Compute sinus cardinal $ \frac{sin(x)}{x} $.

Parameters
x: Value of x.
Returns
Sinus cardinal.

Definition at line 168 of file vpMath.cpp.

Referenced by vpRotationMatrix::buildFrom(), vpThetaUVector::buildFrom(), vpCalibration::calibrationTsai(), vpExponentialMap::direct(), vpFeatureThetaU::interaction(), and vpExponentialMap::inverse().

double vpMath::sinc ( double  sinx,
double  x 
)
static

Compute sinus cardinal $ \frac{sin(x)}{x}$.

Parameters
sinx: Value of sin(x).
x: Value of x.
Returns
Sinus cardinal.

Definition at line 183 of file vpMath.cpp.

static double vpMath::sqr ( double  x)
inlinestatic

Compute x square value.

Returns
$ x^2 $.
Examples:
servoSimuSphere.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, testRobust.cpp, and tutorial-klt-tracker-with-reinit.cpp.

Definition at line 110 of file vpMath.h.

Referenced by vpMbTracker::addPolygon(), vpMbtDistanceCircle::computeInteractionMatrixError(), vpCircle::computeIntersectionPoint(), vpPose::computeResidual(), vpPose::computeResidualDementhon(), vpCalibration::computeStdDeviation(), vpCalibration::computeStdDeviation_dist(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMeterPixelConversion::convertEllipse(), vpMeterPixelConversion::convertLine(), vpPixelMeterConversion::convertLine(), vpPixelMeterConversion::convertPointWithDistortion(), vpPose::coplanar(), vpFeatureBuilder::create(), vpDot2::defineDots(), vpDisplayGTK::displayArrow(), vpDisplayX::displayArrow(), vpDisplayOpenCV::displayArrow(), vpFeatureDisplay::displayEllipse(), vpDisplay::displayEllipse(), vpCalibration::displayGrid(), vpMeSite::distance(), vpImagePoint::distance(), vpImageFilter::getGaussianDerivativeKernel(), vpImageFilter::getGaussianKernel(), vpViper::getInverseKinematicsWrist(), vpMeEllipse::initTracking(), vpFeatureEllipse::interaction(), vpFeatureThetaU::interaction(), vpRotationMatrix::isARotationMatrix(), vpScale::KernelDensityGradient(), vpScale::KernelDensityGradient_EPANECHNIKOV(), vpMeLine::leastSquare(), vpMeNurbs::localReSample(), vpScale::MeanShift(), vpPose::poseRansac(), vpPose::poseVirtualVSrobust(), vpCircle::projection(), vpNurbs::removeCurveKnot(), vpMeLine::reSample(), vpMeLine::sample(), vpMeNurbs::sample(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremitiesCanny(), vpMeSite::sqrDistance(), vpImagePoint::sqrDistance(), vpMeNurbs::supressNearPoints(), vpMeSite::track(), and vpImageTools::undistort().

template<class Type >
static void vpMath::swap ( Type &  a,
Type &  b 
)
inlinestatic

Exchange two numbers.

Parameters
aFirst number to exchange.
bSecond number to exchange

Definition at line 183 of file vpMath.h.