Visual Servoing Platform  version 3.2.1 under development (2019-08-08)
vpMath Class Reference

#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)
 
static int modulo (const int a, const 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

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.

Definition at line 158 of file vpMath.h.

Referenced by vpImageTools::imageDifferenceAbsolute(), 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
Combination number $ n! / ((n-p)! p!) $

Definition at line 226 of file vpMath.h.

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:
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, 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(), 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(), vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), vpRobotPioneer::setVelocity(), vpMbGenericTracker::track(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), and vpRobotBiclops::vpRobotBiclopsSpeedControlLoop().

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.

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:
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.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.

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 305 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 110 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 vpKeyPoint::compute3DForPointsOnCylinders(), vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpComedi::getPhyData(), vpMbtDistanceKltCylinder::init(), and vpPose::poseRansac().

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 135 of file vpMath.cpp.

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

int vpMath::modulo ( const int  a,
const 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 281 of file vpMath.cpp.

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 287 of file vpMath.h.

Referenced by vpPose::computeRansacIterations(), 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:
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, 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, testKalmanAcceleration.cpp, testKalmanVelocity.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, testMatrix.cpp, testPose.cpp, testPoseFeatures.cpp, testPoseRansac2.cpp, testPoseVector.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(), vpRobotViper650::get_eJe(), vpRobotViper850::get_eJe(), vpAfma6::getInverseKinematics(), vpViper::getInverseKinematicsWrist(), 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().

int vpMath::round ( const 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< Type >::getValue(), vpImage< vpRGBa >::getValue(), vpMeSite::init(), vpMeLine::initTracking(), vpKeyPoint::insertImageMatching(), vpImageTools::interpolate(), vpImageConvert::MONO16ToRGBa(), vpMeTracker::outOfImage(), vpMeLine::sample(), saturate(), vpKltOpencv::suppressFeature(), vpMeLine::updateDelta(), vpMeSite::vpMeSite(), and vpMeEllipse::~vpMeEllipse().

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

Definition at line 185 of file vpMath.h.

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

Definition at line 186 of file vpMath.h.

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

Definition at line 187 of file vpMath.h.

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

Definition at line 188 of file vpMath.h.

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

Definition at line 189 of file vpMath.h.

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

Definition at line 190 of file vpMath.h.

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

Definition at line 191 of file vpMath.h.

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

Definition at line 192 of file vpMath.h.

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

Definition at line 328 of file vpMath.h.

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

Definition at line 341 of file vpMath.h.

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

Definition at line 346 of file vpMath.h.

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

Definition at line 351 of file vpMath.h.

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

Definition at line 353 of file vpMath.h.

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

Definition at line 358 of file vpMath.h.

References round().

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

Definition at line 364 of file vpMath.h.

References round().

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

Definition at line 371 of file vpMath.h.

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

Definition at line 373 of file vpMath.h.

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

Definition at line 378 of file vpMath.h.

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

Definition at line 383 of file vpMath.h.

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

Definition at line 385 of file vpMath.h.

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

Definition at line 390 of file vpMath.h.

References round().

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

Definition at line 396 of file vpMath.h.

References round().

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

Definition at line 403 of file vpMath.h.

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

Definition at line 416 of file vpMath.h.

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

Definition at line 421 of file vpMath.h.

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

Definition at line 426 of file vpMath.h.

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

Definition at line 431 of file vpMath.h.

References round().

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

Definition at line 437 of file vpMath.h.

References round().

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

Definition at line 444 of file vpMath.h.

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

Definition at line 445 of file vpMath.h.

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

Definition at line 449 of file vpMath.h.

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

Definition at line 453 of file vpMath.h.

References round().

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

Definition at line 458 of file vpMath.h.

References round().

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

Definition at line 465 of file vpMath.h.

References round().

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

Definition at line 467 of file vpMath.h.

References round().

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

Definition at line 472 of file vpMath.h.

References round().

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

Definition at line 474 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
Sigmoid value $1/(1+exp(-n*((x-x0)/(x1-x0)-0.5)))$

Definition at line 316 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 268 of file vpMath.h.

Referenced by vpThetaUVector::buildFrom(), vpMbEdgeTracker::computeVVSFirstPhase(), round(), 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 170 of file vpMath.cpp.

Referenced by vpRotationMatrix::buildFrom(), vpThetaUVector::buildFrom(), vpMatrix::computeCovarianceMatrixVVS(), 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 187 of file vpMath.cpp.

static double vpMath::sqr ( double  x)
inlinestatic

Compute x square value.

Returns
Square value $ x^2 $.
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(), 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().

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 175 of file vpMath.h.