#include "Vector.h"
#include "Quaternion.h"
#include <configmaps/ConfigData.h>

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Namespaces
	mars
	Copyright 2012, DFKI GmbH Robotics Innovation Center.

	mars::utils

Enumerations
enum	mars::utils::ApproximationFunction { mars::utils::FUNCTION_PIPE, mars::utils::FUNCTION_POLYNOM2, mars::utils::FUNCTION_POLYNOM3, mars::utils::FUNCTION_POLYNOM4, mars::utils::FUNCTION_POLYNOM5, mars::utils::FUNCTION_GAUSSIAN, mars::utils::FUNCTION_UNKNOWN }

enum	mars::utils::ApproximationFunction2D { mars::utils::FUNCTION_UNKNOWN2D, mars::utils::FUNCTION_POLYNOM2D1, mars::utils::FUNCTION_POLYNOM2D2 }

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::beta_distribution (double x, std::vector< double > c)

double	mars::utils::gamma_distribution (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)

bool	mars::utils::isNormalized (const Vector &vec)

Vector	mars::utils::scaleVectorToLength (const Vector &vec, const double &length)

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

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

Quaternion	mars::utils::angleAxisToQuaternion (double angle, const Vector &axis)

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

Quaternion	mars::utils::eulerToQuaternion (const sRotation &rot)

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

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

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

double	mars::utils::distanceSquaredBetween (const Vector &v1, const Vector &v2)

double	mars::utils::distanceBetween (const Vector &v1, const Vector &v2)

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)

template<typename T >
Quaternion	mars::utils::quaternionFromMembers (T q)

template<typename T >
Quaternion	mars::utils::quaternionFromXYZWArray (T q)

template<typename T >
Quaternion	mars::utils::quaternionFromWXYZArray (T q)

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

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

Variables
const double	mars::utils::SQRT2PI = 2.5066282746310002

const double	mars::utils::EPSILON = Eigen::NumTraits<double>::epsilon()

Namespaces

Enumerations

Functions

Variables