iCub-main
Maths

Collection of mathematical functions. More...

Collaboration diagram for Maths:

## Functions

double iCub::ctrl::dot (const yarp::sig::Matrix &A, int colA, const yarp::sig::Matrix &B, int colB)
Returns the dot product between two vectors given in the form: matrix(:,col). More...

double iCub::ctrl::norm2 (const yarp::sig::Matrix &M, int col)
Returns the squared norm of the vector given in the form: matrix(:,col). More...

double iCub::ctrl::norm (const yarp::sig::Matrix &M, int col)
Returns the norm of the vector given in the form: matrix(:,col). More...

yarp::sig::Vector iCub::ctrl::cross (const yarp::sig::Matrix &A, int colA, const yarp::sig::Matrix &B, int colB)
Returns the cross product between two vectors given in the form: matrix(:,col). More...

yarp::sig::Vector iCub::ctrl::Dcross (const yarp::sig::Vector &a, const yarp::sig::Vector &Da, const yarp::sig::Vector &b, const yarp::sig::Vector &Db)
Returns the derivatice of cross product between two vectors. More...

yarp::sig::Vector iCub::ctrl::Dcross (const yarp::sig::Matrix &A, const yarp::sig::Matrix &DA, int colA, const yarp::sig::Matrix &B, const yarp::sig::Matrix &DB, int colB)
Returns the derivative of cross product between two vectors given in the form: matrix(:,col). More...

## Detailed Description

Collection of mathematical functions.

CopyPolicy: Released under the terms of the GNU GPL v2.0.

## ◆ cross()

 yarp::sig::Vector iCub::ctrl::cross ( const yarp::sig::Matrix & A, int colA, const yarp::sig::Matrix & B, int colB )

Returns the cross product between two vectors given in the form: matrix(:,col).

Parameters
 A is the first input vector given as a=A(:,colA). colA is the column for the first vector. B is the second input vector given as b=B(:,colB). colB is the column for the second vector.
Returns
axb.

## ◆ Dcross() [1/2]

 yarp::sig::Vector iCub::ctrl::Dcross ( const yarp::sig::Vector & a, const yarp::sig::Vector & Da, const yarp::sig::Vector & b, const yarp::sig::Vector & Db )

Returns the derivatice of cross product between two vectors.

Parameters
 a is the first input vector. Da is the derivative of first input vector. b is the second input vector. Db is the derivative of second input vector.
Returns
D(axb).

## ◆ Dcross() [2/2]

 yarp::sig::Vector iCub::ctrl::Dcross ( const yarp::sig::Matrix & A, const yarp::sig::Matrix & DA, int colA, const yarp::sig::Matrix & B, const yarp::sig::Matrix & DB, int colB )

Returns the derivative of cross product between two vectors given in the form: matrix(:,col).

Parameters
 A is the first input vector given as a=A(:,colA). DA is the derivative of first input vector. colA is the column for the first vector. B is the second input vector given as b=B(:,colB). DB is the derivative of second input vector. colB is the column for the second vector.
Returns
D(axb).

## ◆ dot()

 double iCub::ctrl::dot ( const yarp::sig::Matrix & A, int colA, const yarp::sig::Matrix & B, int colB )

Returns the dot product between two vectors given in the form: matrix(:,col).

Parameters
 A is the first input vector given as a=A(:,colA). colA is the column for the first vector. B is the second input vector given as b=B(:,colB). colB is the column for the second vector.
Returns
<a,b>.

## ◆ norm()

 double iCub::ctrl::norm ( const yarp::sig::Matrix & M, int col )

Returns the norm of the vector given in the form: matrix(:,col).

Parameters
 M is the input vector given as m=M(:,col). col is the column for the vector.
Returns
||v||.

## ◆ norm2()

 double iCub::ctrl::norm2 ( const yarp::sig::Matrix & M, int col )
inline

Returns the squared norm of the vector given in the form: matrix(:,col).

Parameters
 M is the input vector given as m=M(:,col). col is the column for the vector.
Returns
||v||^2.

Definition at line 89 of file math.h.