#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	isNaN (float value)

static bool	isInf (double value)

static bool	isInf (float value)

static double	lineFitting (const std::vector< vpImagePoint > &imPts, double &a, double &b, double &c)

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 94 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:: testImageWarp.cpp.

Definition at line 160 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 232 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, tutorial-pose-from-points-live.cpp, and tutorial-pose-from-points-realsense-T265.cpp.

Definition at line 103 of file vpMath.h.

Referenced by vpPose::calculArbreDementhon(), vpHandEyeCalibration::calibrate(), vpMbGenericTracker::computeCurrentProjectionError(), vpMbTracker::computeCurrentProjectionError(), vpMbGenericTracker::computeProjectionError(), vpMbEdgeTracker::computeProjectionError(), vpAfma6::getInverseKinematics(), vpRobotFlirPtu::getNetworkHostName(), vpMeEllipse::leastSquareRobust(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), vpFeatureSegment::print(), vpPoseVector::print(), vpMeEllipse::printParameters(), vpServoData::save(), vpSimulatorAfma6::savePosFile(), vpRobotAfma4::savePosFile(), vpSimulatorViper850::savePosFile(), vpRobotAfma6::savePosFile(), vpRobotFranka::savePosFile(), vpRobotViper650::savePosFile(), vpRobotViper850::savePosFile(), vpRobotFlirPtu::setJointVelocity(), vpRobotKinova::setJointVelocity(), vpRobotKinova::setPosition(), vpRobotFlirPtu::setPosition(), vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), vpRobotPioneer::setVelocity(), vpMeEllipse::track(), 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 295 of file vpMath.h.

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

◆ fact()

double vpMath::fact ( unsigned int x )

inlinestatic

Computes and returns x!

Parameters

x	: parameter of factorial function.

Definition at line 217 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-rgbd-structure-core.cpp, tutorial-apriltag-detector-live-T265-realsense.cpp, tutorial-apriltag-detector-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd-structure-core.cpp, and tutorial-mb-generic-tracker-rgbd.cpp.

Definition at line 241 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-rgbd-structure-core.cpp, tutorial-apriltag-detector-live-T265-realsense.cpp, tutorial-apriltag-detector-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd-structure-core.cpp, and tutorial-mb-generic-tracker-rgbd.cpp.

Definition at line 261 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-rgbd-structure-core.cpp, tutorial-apriltag-detector-live-T265-realsense.cpp, tutorial-apriltag-detector-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd-structure-core.cpp, and tutorial-mb-generic-tracker-rgbd.cpp.

Definition at line 291 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 304 of file vpMath.h.

◆ isInf() [1/2]

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: true if value is a plus or minus infinity (as defined by IEEE754 standard) and false otherwise.

Examples:: testMath.cpp.

Definition at line 129 of file vpMath.cpp.

◆ isInf() [2/2]

bool vpMath::isInf ( float value )

static

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

Parameters

value : Double number to check.

Returns: true if value is a plus or minus infinity (as defined by IEEE754 standard) and false otherwise.

Definition at line 152 of file vpMath.cpp.

◆ isNaN() [1/2]

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: true if value is Not A Number (as defined by IEEE754 standard) and false otherwise.

Examples:: testMath.cpp, and tutorial-apriltag-detector-live-rgbd-structure-core.cpp.

Definition at line 85 of file vpMath.cpp.

Referenced by vpKeyPoint::compute3DForPointsOnCylinders(), vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpComedi::getPhyData(), vpMbtDistanceKltCylinder::init(), and vpPose::poseRansac().

◆ isNaN() [2/2]

bool vpMath::isNaN ( float value )

static

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

Parameters

value : Float number to check.

Returns: true if value is Not A Number (as defined by IEEE754 standard) and false otherwise.

Definition at line 106 of file vpMath.cpp.

◆ lineFitting()

double vpMath::lineFitting	(	const std::vector< vpImagePoint > &	imPts,
		double &	a,
		double &	b,
		double &	c
	)

static

Compute the line equation using least-squares fitting that minimizes the cost function:

$\mathbf{E} = \sum_{i=1}^{n}\left ( ax_i + by_i - c \right )^2$

Parameters

imPts	: Image points (size >= 3).
a	: a coefficient.
b	: b coefficient.
c	: c coefficient.

Returns: The mean distance error (point-to-line distance) between the points and the fitted line.

Examples:: testLineFitting.cpp.

Definition at line 328 of file vpMath.cpp.

References vpException::dimensionError, vpMatrix::eigenValues(), vpImagePoint::get_u(), and vpImagePoint::get_v().

◆ 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 145 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(), 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 177 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 153 of file vpMath.h.

Referenced by vpRobotWireFrameSimulator::getExternalCameraParameters(), vpWireFrameSimulator::getExternalCameraParameters(), vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalCameraParameters(), vpWireFrameSimulator::getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), 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.

Definition at line 381 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 194 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 286 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, mbtEdgeKltTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltTracking.cpp, moveAfma4.cpp, moveBiclops.cpp, movePtu46.cpp, photometricVisualServoing.cpp, photometricVisualServoingWithoutVpServo.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBebop2.cpp, servoFrankaPBVS.cpp, servoKinovaJacoJoint.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, servoSimuSphere2DCamVelocityDisplaySecondaryTask.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 110 of file vpMath.h.

Referenced by vpVirtualGrabber::acquire(), vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpMbGenericTracker::computeProjectionError(), vpRobotViper650::get_eJe(), vpRobotViper850::get_eJe(), vpAfma6::getInverseKinematics(), vpViper::getInverseKinematicsWrist(), vpRobotKinova::getJointPosition(), vpRobotFlirPtu::getNetworkHostName(), vpRobotPioneer::getVelocity(), vpViper650::init(), vpViper850::init(), vpAfma6::init(), vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpMbtPolygon::isVisible(), vpMeEllipse::leastSquareRobust(), vpMbTracker::loadCAOModel(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), vpWireFrameSimulator::navigation(), vpMeEllipse::plugHoles(), vpSimulatorAfma6::readPosFile(), vpRobotAfma4::readPosFile(), vpRobotAfma6::readPosFile(), vpRobotFranka::readPosFile(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbGenericTracker::resetTracker(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMeEllipse::sample(), vpMeEllipse::track(), vpMbGenericTracker::track(), vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(), vpRobotCamera::vpRobotCamera(), vpSickLDMRS::vpSickLDMRS(), vpSimulatorCamera::vpSimulatorCamera(), vpViper::vpViper(), vpViper650::vpViper650(), vpViper850::vpViper850(), vpWireFrameSimulator::vpWireFrameSimulator(), 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 247 of file vpMath.h.

References sign().

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

◆ saturate() [1/37]

template<typename _Tp >

static _Tp vpMath::saturate ( unsigned char v )

inlinestatic

Definition at line 191 of file vpMath.h.

◆ saturate() [2/37]

template<typename _Tp >

static _Tp vpMath::saturate ( char v )

inlinestatic

Definition at line 192 of file vpMath.h.

◆ saturate() [3/37]

template<typename _Tp >

static _Tp vpMath::saturate ( unsigned short v )

inlinestatic

Definition at line 193 of file vpMath.h.

◆ saturate() [4/37]

template<typename _Tp >

static _Tp vpMath::saturate ( short v )

inlinestatic

Definition at line 194 of file vpMath.h.

◆ saturate() [5/37]

template<typename _Tp >

static _Tp vpMath::saturate ( unsigned v )

inlinestatic

Definition at line 195 of file vpMath.h.

◆ saturate() [6/37]

template<typename _Tp >

static _Tp vpMath::saturate ( int v )

inlinestatic

Definition at line 196 of file vpMath.h.

◆ saturate() [7/37]

template<typename _Tp >

static _Tp vpMath::saturate ( float v )

inlinestatic

Definition at line 197 of file vpMath.h.

◆ saturate() [8/37]

template<typename _Tp >

static _Tp vpMath::saturate ( double v )

inlinestatic

Definition at line 198 of file vpMath.h.

◆ saturate() [9/37]

template<>

unsigned char vpMath::saturate ( char v )

inline

Definition at line 329 of file vpMath.h.

◆ saturate() [10/37]

template<>

unsigned char vpMath::saturate ( unsigned short v )

inline

Definition at line 342 of file vpMath.h.

◆ saturate() [11/37]

template<>

unsigned char vpMath::saturate ( int v )

inline

Definition at line 347 of file vpMath.h.

◆ saturate() [12/37]

template<>

unsigned char vpMath::saturate ( short v )

inline

Definition at line 352 of file vpMath.h.

◆ saturate() [13/37]

template<>

unsigned char vpMath::saturate ( unsigned int v )

inline

Definition at line 354 of file vpMath.h.

◆ saturate() [14/37]

template<>

unsigned char vpMath::saturate ( float v )

inline

Definition at line 359 of file vpMath.h.

References round().

◆ saturate() [15/37]

template<>

unsigned char vpMath::saturate ( double v )

inline

Definition at line 365 of file vpMath.h.

References round().

◆ saturate() [16/37]

template<>

char vpMath::saturate ( unsigned char v )

inline

Definition at line 372 of file vpMath.h.

◆ saturate() [17/37]

template<>

char vpMath::saturate ( unsigned short v )

inline

Definition at line 374 of file vpMath.h.

◆ saturate() [18/37]

template<>

char vpMath::saturate ( int v )

inline

Definition at line 379 of file vpMath.h.

◆ saturate() [19/37]

template<>

char vpMath::saturate ( short v )

inline

Definition at line 384 of file vpMath.h.

◆ saturate() [20/37]

template<>

char vpMath::saturate ( unsigned int v )

inline

Definition at line 386 of file vpMath.h.

◆ saturate() [21/37]

template<>

char vpMath::saturate ( float v )

inline

Definition at line 391 of file vpMath.h.

References round().

◆ saturate() [22/37]

template<>

char vpMath::saturate ( double v )

inline

Definition at line 397 of file vpMath.h.

References round().

◆ saturate() [23/37]

template<>

unsigned short vpMath::saturate ( char v )

inline

Definition at line 404 of file vpMath.h.

◆ saturate() [24/37]

template<>

unsigned short vpMath::saturate ( short v )

inline

Definition at line 417 of file vpMath.h.

◆ saturate() [25/37]

template<>

unsigned short vpMath::saturate ( int v )

inline

Definition at line 422 of file vpMath.h.

◆ saturate() [26/37]

template<>

unsigned short vpMath::saturate ( unsigned int v )

inline

Definition at line 427 of file vpMath.h.

◆ saturate() [27/37]

template<>

unsigned short vpMath::saturate ( float v )

inline

Definition at line 432 of file vpMath.h.

References round().

◆ saturate() [28/37]

template<>

unsigned short vpMath::saturate ( double v )

inline

Definition at line 438 of file vpMath.h.

References round().

◆ saturate() [29/37]

template<>

short vpMath::saturate ( unsigned short v )

inline

Definition at line 445 of file vpMath.h.

◆ saturate() [30/37]

template<>

short vpMath::saturate ( int v )

inline

Definition at line 446 of file vpMath.h.

◆ saturate() [31/37]

template<>

short vpMath::saturate ( unsigned int v )

inline

Definition at line 450 of file vpMath.h.

◆ saturate() [32/37]

template<>

short vpMath::saturate ( float v )

inline

Definition at line 454 of file vpMath.h.

References round().

◆ saturate() [33/37]

template<>

short vpMath::saturate ( double v )

inline

Definition at line 459 of file vpMath.h.

References round().

◆ saturate() [34/37]

template<>

int vpMath::saturate ( float v )

inline

Definition at line 466 of file vpMath.h.

References round().

◆ saturate() [35/37]

template<>

int vpMath::saturate ( double v )

inline

Definition at line 468 of file vpMath.h.

References round().

◆ saturate() [36/37]

template<>

unsigned int vpMath::saturate ( float v )

inline

Definition at line 473 of file vpMath.h.

References round().

◆ saturate() [37/37]

template<>

unsigned int vpMath::saturate ( double v )

inline

Definition at line 475 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 317 of file vpMath.h.

◆ sign()

static int() vpMath::sign ( double x )

inlinestatic

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 210 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 226 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, testColorConversion.cpp, testRobust.cpp, and tutorial-klt-tracker-with-reinit.cpp.

Definition at line 116 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(), vpMbGenericTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbEdgeTracker::computeVVSInit(), vpMeterPixelConversion::convertEllipse(), vpPixelMeterConversion::convertLine(), vpMeterPixelConversion::convertLine(), vpPixelMeterConversion::convertPoint(), vpMeterPixelConversion::convertPoint(), vpPose::coplanar(), vpFeatureBuilder::create(), vpDot2::defineDots(), vpDisplayX::displayArrow(), vpDisplayGTK::displayArrow(), vpDisplayOpenCV::displayArrow(), vpDisplayOpenCV::displayDotLine(), vpCalibration::displayGrid(), vpMeSite::distance(), vpImagePoint::distance(), vpImageDraw::drawArrow(), vpImageDraw::drawDottedLine(), vpMbtFaceDepthNormal::estimateFeatures(), vpImageFilter::getGaussianDerivativeKernel(), vpImageFilter::getGaussianKernel(), vpViper::getInverseKinematicsWrist(), vpImageTools::initUndistortMap(), vpImageTools::integralImage(), vpFeatureEllipse::interaction(), vpFeatureThetaU::interaction(), vpRotationMatrix::isARotationMatrix(), vpScale::KernelDensityGradient(), vpScale::KernelDensityGradient_EPANECHNIKOV(), vpMeLine::leastSquare(), vpMeNurbs::localReSample(), vpScale::MeanShift(), vpRobust::MEstimator(), vpPose::poseVirtualVSrobust(), vpSphere::projection(), vpCircle::projection(), vpNurbs::removeCurveKnot(), vpMeLine::reSample(), vpMeLine::sample(), vpMeNurbs::sample(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremitiesCanny(), vpRobust::simultMEstimator(), vpMeSite::sqrDistance(), vpImagePoint::sqrDistance(), vpMeNurbs::supressNearPoints(), vpImageTools::templateMatching(), vpMeSite::track(), vpMbGenericTracker::track(), and vpImageTools::undistort().

◆ 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 177 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() [1/2]

◆ isInf() [2/2]

◆ isNaN() [1/2]

◆ isNaN() [2/2]

◆ lineFitting()

◆ 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()