#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 (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 (double value)

static bool	isInf (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, bool useBesselCorrection=false)

static int	modulo (int a, int n)

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 92 of file vpMath.h.

Member Function Documentation

◆ abs()

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

Examples:: testImageResize.cpp, and testImageWarp.cpp.

Definition at line 158 of file vpMath.h.

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

◆ comb()

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: Combination number

Definition at line 226 of file vpMath.h.

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

◆ deg()

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:: calibrate-hand-eye.cpp, mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, moveBiclops.cpp, movePioneer.cpp, servoFrankaPBVS.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, sonarPioneerReader.cpp, testFrankaJointVelocityLimits.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testMomentAlpha.cpp, testPose.cpp, testRobotAfma6Pose.cpp, testRobotFlirPtu.cpp, testRobotViper850.cpp, testRobotViper850Pose.cpp, testViper650.cpp, testViper850.cpp, trackMeLine.cpp, tutorial-hand-eye-calibration.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-pose-from-points-live.cpp.

Definition at line 101 of file vpMath.h.

Referenced by vpPose::calculArbreDementhon(), vpHandEyeCalibration::calibrate(), vpMbGenericTracker::computeCurrentProjectionError(), vpMbTracker::computeCurrentProjectionError(), vpMbEdgeMultiTracker::computeProjectionError(), vpMbGenericTracker::computeProjectionError(), vpMbEdgeTracker::computeProjectionError(), vpAfma6::getInverseKinematics(), vpRobotFlirPtu::getNetworkHostName(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), vpFeatureSegment::print(), vpPoseVector::print(), vpServoData::save(), vpSimulatorAfma6::savePosFile(), vpRobotAfma4::savePosFile(), vpSimulatorViper850::savePosFile(), vpRobotAfma6::savePosFile(), vpRobotFranka::savePosFile(), vpRobotViper650::savePosFile(), vpRobotViper850::savePosFile(), vpRobotFlirPtu::setJointVelocity(), vpRobotFlirPtu::setPosition(), vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), vpRobotPioneer::setVelocity(), vpMbGenericTracker::track(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), and vpRobotBiclops::vpRobotBiclopsSpeedControlLoop().

◆ equal()

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 .

Examples:: testAprilTag.cpp, testColVector.cpp, testImageFilter.cpp, testImageNormalizedCorrelation.cpp, testImageTemplateMatching.cpp, testIoTools.cpp, testKeyPoint-7.cpp, testMath.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixInitialization.cpp, testMomentAlpha.cpp, testRowVector.cpp, testThread2.cpp, and testTukeyEstimator.cpp.

Definition at line 296 of file vpMath.h.

Referenced by vpMbDepthDenseTracker::display(), vpMbDepthNormalTracker::display(), vpMbEdgeKltTracker::display(), vpMbKltTracker::display(), vpMbEdgeTracker::display(), vpMbEdgeTracker::displayFeaturesOnImage(), vpPolygon::isInside(), vpImageConvert::MONO16ToRGBa(), vpRowVector::operator==(), vpCameraParameters::operator==(), vpColVector::operator==(), vpKeyPoint::saveLearningData(), vpQbSoftHand::setPosition(), and vpMbGenericTracker::track().

◆ fact()

double vpMath::fact ( unsigned int x )

inlinestatic

Computes and returns x!

Parameters

x	: parameter of factorial function.

Definition at line 211 of file vpMath.h.

◆ getMean()

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:: mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testImageTemplateMatching.cpp, testKeyPoint-2.cpp, testMath.cpp, testRealSense2_D435.cpp, testRealSense2_D435_opencv.cpp, testRealSense2_D435_pcl.cpp, testRealSense2_SR300.cpp, testRealSense_R200.cpp, testRealSense_SR300.cpp, tutorial-apriltag-detector-live-rgbd-realsense.cpp, tutorial-apriltag-detector-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd.cpp.

Definition at line 202 of file vpMath.cpp.

References vpException::notInitialized.

◆ getMedian()

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:: mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testImageTemplateMatching.cpp, testKeyPoint-2.cpp, testMath.cpp, testRealSense2_D435.cpp, testRealSense2_D435_opencv.cpp, testRealSense2_D435_pcl.cpp, testRealSense2_SR300.cpp, testRealSense_R200.cpp, testRealSense_SR300.cpp, tutorial-apriltag-detector-live-rgbd-realsense.cpp, tutorial-apriltag-detector-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd.cpp.

Definition at line 222 of file vpMath.cpp.

References vpException::notInitialized.

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

◆ getStdev()

double vpMath::getStdev	(	const std::vector< double > &	v,
		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:: mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testImageTemplateMatching.cpp, testKeyPoint-2.cpp, testMath.cpp, tutorial-apriltag-detector-live-rgbd-realsense.cpp, tutorial-apriltag-detector-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd.cpp.

Definition at line 252 of file vpMath.cpp.

References vpException::notInitialized.

◆ greater()

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 .

Definition at line 305 of file vpMath.h.

◆ isInf()

bool vpMath::isInf ( 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 110 of file vpMath.cpp.

◆ isNaN()

bool vpMath::isNaN ( 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 vpKeyPoint::compute3DForPointsOnCylinders(), vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpComedi::getPhyData(), vpMbtDistanceKltCylinder::init(), and vpPose::poseRansac().

◆ maximum()

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.

Examples:: testImageDifference.cpp.

Definition at line 143 of file vpMath.h.

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

◆ mcosc()

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

Definition at line 135 of file vpMath.cpp.

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

◆ minimum()

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.

Examples:: testImageDifference.cpp.

Definition at line 151 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().

◆ modulo()

int vpMath::modulo	(	int	a,
		int	n
	)

static

Compute the modified modulo:

modulo(11, 10) == 1 == 11 % 10
modulo(-1, 10) == 9

Parameters

a	: The dividend.
n	: The divisor.

Returns: The modified modulo of a mod n.

Examples:: testImageMorphology.cpp.

Definition at line 286 of file vpMath.cpp.

◆ msinc()

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

Definition at line 153 of file vpMath.cpp.

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

◆ nul()

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 .

Definition at line 287 of file vpMath.h.

Referenced by vpPose::computeRansacIterations(), vpQuaternionVector::inverse(), vpQuaternionVector::normalize(), vpQuaternionVector::operator/(), and vpImageTools::warpImage().

◆ rad()

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:: calibrate-hand-eye.cpp, exponentialMap.cpp, homographyHartleyDLT2DObject.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyRansac2DObject.cpp, manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltMultiTracking.cpp, mbtKltTracking.cpp, moveAfma4.cpp, moveBiclops.cpp, movePtu46.cpp, photometricVisualServoing.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBebop2.cpp, servoFrankaPBVS.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, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, sonarPioneerReader.cpp, testDisplacement.cpp, testFeatureSegment.cpp, testFindMatch.cpp, testFrankaJointVelocity-2.cpp, testFrankaJointVelocity-3.cpp, testFrankaJointVelocity.cpp, testFrankaJointVelocityLimits.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testImageWarp.cpp, testKalmanAcceleration.cpp, testKalmanVelocity.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, testMatrix.cpp, testPose.cpp, testPoseFeatures.cpp, testPoseVector.cpp, testRobotBebop2.cpp, testRobotFlirPtu.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testViper650.cpp, testViper850.cpp, testVirtuoseWithGlove.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.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-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, and wireframeSimulator.cpp.

Definition at line 108 of file vpMath.h.

Referenced by vpVirtualGrabber::acquire(), vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpMbEdgeMultiTracker::computeProjectionError(), vpMbGenericTracker::computeProjectionError(), vpMeEllipse::display(), vpDisplay::displayEllipse(), vpImageDraw::drawEllipse(), vpRobotViper650::get_eJe(), vpRobotViper850::get_eJe(), vpAfma6::getInverseKinematics(), vpViper::getInverseKinematicsWrist(), vpRobotFlirPtu::getNetworkHostName(), vpRobotPioneer::getVelocity(), vpAfma6::init(), vpViper650::init(), vpViper850::init(), vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpMeEllipse::initTracking(), vpMbtPolygon::isVisible(), vpMbTracker::loadCAOModel(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), vpWireFrameSimulator::navigation(), vpMeEllipse::printParameters(), vpSimulatorAfma6::readPosFile(), vpRobotAfma4::readPosFile(), vpRobotAfma6::readPosFile(), vpRobotFranka::readPosFile(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbEdgeMultiTracker::resetTracker(), vpMbKltMultiTracker::resetTracker(), vpMbGenericTracker::resetTracker(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbGenericTracker::track(), vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(), vpRobotCamera::vpRobotCamera(), vpSickLDMRS::vpSickLDMRS(), vpSimulatorCamera::vpSimulatorCamera(), vpViper::vpViper(), vpViper650::vpViper650(), vpViper850::vpViper850(), vpWireFrameSimulator::vpWireFrameSimulator(), vpMeEllipse::~vpMeEllipse(), and vpPioneer::~vpPioneer().

◆ round()

int vpMath::round ( double x )

inlinestatic

Round x to the nearest integer.

Parameters

x	: Value to round.

Returns: Nearest integer of x.

Examples:: mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, testImageGetValue.cpp, and testMath.cpp.

Definition at line 241 of file vpMath.h.

References sign().

Referenced by vpMeLine::computeRhoTheta(), vpMeSite::convolution(), vpKeyPoint::createImageMatching(), vpKltOpencv::display(), vpMeNurbs::display(), vpDisplayGTK::displayCharString(), vpDisplayOpenCV::displayCharString(), vpDisplayGTK::displayCircle(), vpDisplayX::displayCircle(), vpDisplayOpenCV::displayCircle(), vpDisplayGTK::displayDotLine(), vpDisplayX::displayDotLine(), vpDisplayGTK::displayLine(), vpDisplayX::displayLine(), vpDisplayOpenCV::displayLine(), vpKeyPoint::displayMatching(), vpDisplayGTK::displayPoint(), vpDisplayX::displayPoint(), vpDisplayOpenCV::displayPoint(), vpMbtDistanceKltCylinder::displayPrimitive(), vpMbtDistanceKltPoints::displayPrimitive(), vpDisplayGTK::displayRectangle(), vpDisplayX::displayRectangle(), vpDisplayOpenCV::displayRectangle(), vp::equalizeHistogram(), vpImageTools::extract(), vpBSpline::findSpan(), vpMbtDistanceKltPoints::getFeaturesForDisplay(), vpMbtDistanceKltCylinder::getFeaturesForDisplay(), vpMeSite::getSign(), vpImage< bool >::getValue(), vpMeSite::init(), vpMeLine::initTracking(), vpKeyPoint::insertImageMatching(), vpImageTools::interpolate(), vpImageConvert::MONO16ToRGBa(), vpMeTracker::outOfImage(), vpMeLine::sample(), saturate(), vpKltOpencv::suppressFeature(), vpMeLine::updateDelta(), vpMeSite::vpMeSite(), vpImageTools::warpImage(), and vpMeEllipse::~vpMeEllipse().

◆ saturate() [1/37]

template<typename _Tp >

static _Tp vpMath::saturate ( unsigned char v )

inlinestatic

Definition at line 185 of file vpMath.h.

◆ saturate() [2/37]

template<typename _Tp >

static _Tp vpMath::saturate ( char v )

inlinestatic

Definition at line 186 of file vpMath.h.

◆ saturate() [3/37]

template<typename _Tp >

static _Tp vpMath::saturate ( unsigned short v )

inlinestatic

Definition at line 187 of file vpMath.h.

◆ saturate() [4/37]

template<typename _Tp >

static _Tp vpMath::saturate ( short v )

inlinestatic

Definition at line 188 of file vpMath.h.

◆ saturate() [5/37]

template<typename _Tp >

static _Tp vpMath::saturate ( unsigned v )

inlinestatic

Definition at line 189 of file vpMath.h.

◆ saturate() [6/37]

template<typename _Tp >

static _Tp vpMath::saturate ( int v )

inlinestatic

Definition at line 190 of file vpMath.h.

◆ saturate() [7/37]

template<typename _Tp >

static _Tp vpMath::saturate ( float v )

inlinestatic

Definition at line 191 of file vpMath.h.

◆ saturate() [8/37]

template<typename _Tp >

static _Tp vpMath::saturate ( double v )

inlinestatic

Definition at line 192 of file vpMath.h.

◆ saturate() [9/37]

template<>

unsigned char vpMath::saturate ( char v )

inline

Definition at line 328 of file vpMath.h.

◆ saturate() [10/37]

template<>

unsigned char vpMath::saturate ( unsigned short v )

inline

Definition at line 341 of file vpMath.h.

◆ saturate() [11/37]

template<>

unsigned char vpMath::saturate ( int v )

inline

Definition at line 346 of file vpMath.h.

◆ saturate() [12/37]

template<>

unsigned char vpMath::saturate ( short v )

inline

Definition at line 351 of file vpMath.h.

◆ saturate() [13/37]

template<>

unsigned char vpMath::saturate ( unsigned int v )

inline

Definition at line 353 of file vpMath.h.

◆ saturate() [14/37]

template<>

unsigned char vpMath::saturate ( float v )

inline

Definition at line 358 of file vpMath.h.

References round().

◆ saturate() [15/37]

template<>

unsigned char vpMath::saturate ( double v )

inline

Definition at line 364 of file vpMath.h.

References round().

◆ saturate() [16/37]

template<>

char vpMath::saturate ( unsigned char v )

inline

Definition at line 371 of file vpMath.h.

◆ saturate() [17/37]

template<>

char vpMath::saturate ( unsigned short v )

inline

Definition at line 373 of file vpMath.h.

◆ saturate() [18/37]

template<>

char vpMath::saturate ( int v )

inline

Definition at line 378 of file vpMath.h.

◆ saturate() [19/37]

template<>

char vpMath::saturate ( short v )

inline

Definition at line 383 of file vpMath.h.

◆ saturate() [20/37]

template<>

char vpMath::saturate ( unsigned int v )

inline

Definition at line 385 of file vpMath.h.

◆ saturate() [21/37]

template<>

char vpMath::saturate ( float v )

inline

Definition at line 390 of file vpMath.h.

References round().

◆ saturate() [22/37]

template<>

char vpMath::saturate ( double v )

inline

Definition at line 396 of file vpMath.h.

References round().

◆ saturate() [23/37]

template<>

unsigned short vpMath::saturate ( char v )

inline

Definition at line 403 of file vpMath.h.

◆ saturate() [24/37]

template<>

unsigned short vpMath::saturate ( short v )

inline

Definition at line 416 of file vpMath.h.

◆ saturate() [25/37]

template<>

unsigned short vpMath::saturate ( int v )

inline

Definition at line 421 of file vpMath.h.

◆ saturate() [26/37]

template<>

unsigned short vpMath::saturate ( unsigned int v )

inline

Definition at line 426 of file vpMath.h.

◆ saturate() [27/37]

template<>

unsigned short vpMath::saturate ( float v )

inline

Definition at line 431 of file vpMath.h.

References round().

◆ saturate() [28/37]

template<>

unsigned short vpMath::saturate ( double v )

inline

Definition at line 437 of file vpMath.h.

References round().

◆ saturate() [29/37]

template<>

short vpMath::saturate ( unsigned short v )

inline

Definition at line 444 of file vpMath.h.

◆ saturate() [30/37]

template<>

short vpMath::saturate ( int v )

inline

Definition at line 445 of file vpMath.h.

◆ saturate() [31/37]

template<>

short vpMath::saturate ( unsigned int v )

inline

Definition at line 449 of file vpMath.h.

◆ saturate() [32/37]

template<>

short vpMath::saturate ( float v )

inline

Definition at line 453 of file vpMath.h.

References round().

◆ saturate() [33/37]

template<>

short vpMath::saturate ( double v )

inline

Definition at line 458 of file vpMath.h.

References round().

◆ saturate() [34/37]

template<>

int vpMath::saturate ( float v )

inline

Definition at line 465 of file vpMath.h.

References round().

◆ saturate() [35/37]

template<>

int vpMath::saturate ( double v )

inline

Definition at line 467 of file vpMath.h.

References round().

◆ saturate() [36/37]

template<>

unsigned int vpMath::saturate ( float v )

inline

Definition at line 472 of file vpMath.h.

References round().

◆ saturate() [37/37]

template<>

unsigned int vpMath::saturate ( double v )

inline

Definition at line 474 of file vpMath.h.

References round().

◆ sigmoid()

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: Sigmoid value

Definition at line 316 of file vpMath.h.

◆ sign()

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 268 of file vpMath.h.

Referenced by vpThetaUVector::buildFrom(), vpMbEdgeTracker::computeVVSFirstPhase(), round(), and vpMeNurbs::seekExtremities().

◆ sinc() [1/2]

double vpMath::sinc ( double x )

static

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

Parameters

x	: Value of x.

Returns: Sinus cardinal.

Definition at line 170 of file vpMath.cpp.

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

◆ sinc() [2/2]

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 187 of file vpMath.cpp.

◆ sqr()

static double vpMath::sqr ( double x )

inlinestatic

Compute x square value.

Returns: Square value .

Examples:: servoSimuSphere.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, testRobust.cpp, and tutorial-klt-tracker-with-reinit.cpp.

Definition at line 114 of file vpMath.h.

Referenced by vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpMatrix::computeCovarianceMatrixVVS(), vpHomography::computeDisplacement(), vpMbtDistanceCircle::computeInteractionMatrixError(), vpCircle::computeIntersectionPoint(), vpPoseFeatures::computePose(), vpPose::computeResidual(), vpPose::computeResidualDementhon(), vpCalibration::computeStdDeviation(), vpCalibration::computeStdDeviation_dist(), vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbEdgeTracker::computeVVSInit(), vpMeterPixelConversion::convertEllipse(), vpPixelMeterConversion::convertLine(), vpMeterPixelConversion::convertLine(), vpPixelMeterConversion::convertPoint(), vpPose::coplanar(), vpFeatureBuilder::create(), vpDot2::defineDots(), vpDisplayGTK::displayArrow(), vpDisplayX::displayArrow(), vpDisplayOpenCV::displayArrow(), vpDisplayOpenCV::displayDotLine(), vpCalibration::displayGrid(), vpMeSite::distance(), vpImagePoint::distance(), vpImageDraw::drawArrow(), vpImageDraw::drawDottedLine(), vpImageDraw::drawEllipse(), vpMbtFaceDepthNormal::estimateFeatures(), vpImageFilter::getGaussianDerivativeKernel(), vpImageFilter::getGaussianKernel(), vpViper::getInverseKinematicsWrist(), vpMeEllipse::initTracking(), vpImageTools::integralImage(), vpFeatureEllipse::interaction(), vpFeatureThetaU::interaction(), vpRotationMatrix::isARotationMatrix(), vpScale::KernelDensityGradient(), vpScale::KernelDensityGradient_EPANECHNIKOV(), vpMeLine::leastSquare(), vpMeNurbs::localReSample(), vpScale::MeanShift(), vpImageTools::normalizedCorrelation(), vpPose::poseVirtualVSrobust(), vpMeEllipse::printParameters(), vpCircle::projection(), vpNurbs::removeCurveKnot(), vpMeLine::reSample(), vpMeLine::sample(), vpMeNurbs::sample(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremitiesCanny(), vpRobust::simultMEstimator(), vpMeSite::sqrDistance(), vpImagePoint::sqrDistance(), vpMeNurbs::supressNearPoints(), vpImageTools::templateMatching(), vpMeEllipse::track(), vpMeSite::track(), vpMbGenericTracker::track(), vpImageTools::undistort(), and vpMeEllipse::~vpMeEllipse().

◆ swap()

template<class Type >

static void vpMath::swap	(	Type &	a,
		Type &	b
	)

inlinestatic

Exchange two numbers.

Parameters

a	First number to exchange.
b	Second number to exchange

Definition at line 175 of file vpMath.h.

Public Member Functions

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ abs()

◆ comb()

◆ deg()

◆ equal()

◆ fact()

◆ getMean()

◆ getMedian()

◆ getStdev()

◆ greater()

◆ isInf()

◆ isNaN()

◆ maximum()

◆ mcosc()

◆ minimum()

◆ modulo()

◆ msinc()

◆ nul()

◆ rad()

◆ round()

◆ saturate() [1/37]

◆ saturate() [2/37]

◆ saturate() [3/37]

◆ saturate() [4/37]

◆ saturate() [5/37]

◆ saturate() [6/37]

◆ saturate() [7/37]

◆ saturate() [8/37]

◆ saturate() [9/37]

◆ saturate() [10/37]

◆ saturate() [11/37]

◆ saturate() [12/37]

◆ saturate() [13/37]

◆ saturate() [14/37]

◆ saturate() [15/37]

◆ saturate() [16/37]

◆ saturate() [17/37]

◆ saturate() [18/37]

◆ saturate() [19/37]

◆ saturate() [20/37]

◆ saturate() [21/37]

◆ saturate() [22/37]

◆ saturate() [23/37]

◆ saturate() [24/37]

◆ saturate() [25/37]

◆ saturate() [26/37]

◆ saturate() [27/37]

◆ saturate() [28/37]

◆ saturate() [29/37]

◆ saturate() [30/37]

◆ saturate() [31/37]

◆ saturate() [32/37]

◆ saturate() [33/37]

◆ saturate() [34/37]

◆ saturate() [35/37]

◆ saturate() [36/37]

◆ saturate() [37/37]

◆ sigmoid()

◆ sign()

◆ sinc() [1/2]

◆ sinc() [2/2]

◆ sqr()

◆ swap()