Maintainer: nate AT openrobotics DOT org

Build	Status
Test coverage
Ubuntu Bionic
Homebrew
Windows

Ignition Math, a component of Ignition Robotics, provides general purpose math classes and functions designed for robotic applications.

Features

Install

Usage

Documentation

Testing

Folder Structure

Code of Conduct

Contributing

Versioning

License

Ignition Math provides a wide range of functionality, including:

• Type-templated pose, matrix, vector, and quaternion classes.
• Shape representations along with operators to compute volume, density, size and other properties.
• Classes for material properties, mass, inertial, temperature, PID, kmeans, spherical coordinates, and filtering.
• Optional Eigen component that converts between a few Eigen and Ignition Math types.

See the installation tutorial.

Please refer to the examples directory.

API and tutorials can be found at https://ignitionrobotics.org/libs/math.

You can also generate the documentation from a clone of this repository by following these steps.

1. You will need Doxygen. On Ubuntu Doxygen can be installed using

   sudo apt-get install doxygen
   

2. Clone the repository

   git clone https://github.com/ignitionrobotics/ign-math
   

3. Configure and build the documentation.

   cd ign-math; mkdir build; cd build; cmake ../; make doc
   

4. View the documentation by running the following command from the build directory.

   firefox doxygen/html/index.html
   

Follow these steps to run tests and static code analysis in your clone of this repository.

1. Follow the source install instruction.

2. Run tests.

   make test
   

3. Static code checker.

   make codecheck
   

The C++ classes are available in Ruby code by interface files (.i) used by swig to build a C++ extension module.

The interfaces and Ruby test codes are in the src folder. To use a C++ class in Ruby you need to:

1. Create an interface file describing the class as in Swig and Ruby reference at The Ruby-to-C/C++ Mapping

2. Include the interface file in /src/ing_math.i

3. Create the Ruby file and import the class as in Swig and Ruby reference at C++ Classes

make test already runs all tests, including the ones made in Ruby, but you can run a Ruby test individually using

ctest -R Ruby_TEST.rb

Refer to the following table for information about important directories and files in this repository.

ign-math
├── examples                 Example programs.
├── include/ignition/math    Header files.
├── src                      Source files and unit tests.
│   └── graph                Source files for the graph classes.
├── eigen3                   Files for Eigen component.
├── test
│    ├── integration         Integration tests.
│    ├── performance         Performance tests.
│    └── regression          Regression tests.
├── tutorials                Tutorials, written in markdown.
├── Changelog.md             Changelog.
└── CMakeLists.txt           CMake build script.

Please see CONTRIBUTING.md.

Please see CODE_OF_CONDUCT.md.

This library uses Semantic Versioning. Additionally, this library is part of the Ignition Robotics project which periodically releases a versioned set of compatible and complimentary libraries. See the Ignition Robotics website for version and release information.

This library is licensed under Apache 2.0. See also the LICENSE file.