#include "mathUtils.h"
#include "misc.h"
#include <stdexcept>
#include <cmath>
#include <algorithm>
#include <Eigen/Core>

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Namespaces
	mars
	Copyright 2012, DFKI GmbH Robotics Innovation Center.

	mars::utils

Functions
ApproximationFunction	mars::utils::getApproximationFunctionFromString (std::string s)

ApproximationFunction2D	mars::utils::getApproximationFunction2DFromString (std::string s)

double	mars::utils::pipe (double x, std::vector< double > c)

double	mars::utils::polynom2 (double x, std::vector< double > c)

double	mars::utils::polynom3 (double x, std::vector< double > c)

double	mars::utils::polynom4 (double x, std::vector< double > c)

double	mars::utils::polynom5 (double x, std::vector< double > c)

double	mars::utils::gaussian (double x, std::vector< double > c)

double	mars::utils::polynom2D1 (double x, double y, std::vector< double > *c)

double	mars::utils::polynom2D2 (double x, double y, std::vector< double > *c)

double	mars::utils::getYaw (const Quaternion &q)

double	mars::utils::angleBetween (const Vector &v1, const Vector &v2, Vector *axis=NULL)
	Angle between two vectors. More...

Quaternion	mars::utils::eulerToQuaternion (const Vector &euler_v)

sRotation	mars::utils::quaternionTosRotation (const Quaternion &value)

Vector	mars::utils::slerp (const Vector &from, const Vector &to, double t)

Vector	mars::utils::lerp (const Vector &from, const Vector &to, double t)

void	mars::utils::vectorToSpherical (const Vector &v, double r, double theta, double *phi)

Vector	mars::utils::getProjection (const Vector &v1, const Vector &v2)

Vector	mars::utils::vectorFromSpherical (double r, double theta, double phi)

bool	mars::utils::vectorFromConfigItem (ConfigItem item, Vector v)

void	mars::utils::vectorToConfigItem (ConfigItem item, Vector v)

bool	mars::utils::quaternionFromConfigItem (ConfigItem item, Quaternion q)

void	mars::utils::quaternionToConfigItem (ConfigItem item, Quaternion q)

void	mars::utils::inertiaTensorToConfigItem (ConfigItem item, double inertia)

double	mars::utils::random_number (double min, double max, int digits)

double	mars::utils::random_normal_number (double mean, double std, double low, double high)

Variables
static const int	mars::utils::EULER_AXIS_1 = 2

static const int	mars::utils::EULER_AXIS_2 = 0

static const int	mars::utils::EULER_AXIS_3 = 1

Namespaces

Functions

Variables