Ignition Math : Math classes and functions for robot applications

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.

Table of Contents

Features

Install

• Binary Install

• Source Install

  • Prerequisites

  • Building from Source

Usage

Documentation

Testing

Folder Structure

Code of Conduct

Contributing

Versioning

License

Features

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.

Install

We recommend following the Binary Install instructions to get up and running as quickly and painlessly as possible.

The Source Install instructions should be used if you need the very latest software improvements, you need to modify the code, or you plan to make a contribution.

Binary Install

On Ubuntu systems, apt-get can be used to install ignition-math:

sudo apt install libignition-math<#>-dev

Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need.

Source Install

Source installation can be performed in UNIX systems by first installing the necessary prerequisites followed by building from source.

Prerequisites

The optional Eigen component of Ignition Math requires:

• Eigen. Refer to the Eigen Documentation for installation instructions. On Ubuntu systems, apt-get can be used to install Eigen:

  sudo apt-get install libeigen3-dev
  

The optional Ruby tests of Ignition Math require:

• Ruby. Refer to the Ruby Documentation for installation instructions. On Ubuntu systems apt-get can be used to install Ubuntu Package ruby-dev:

  sudo apt-get install ruby-dev
  

• Swig. Refer to the Swig Documentation for installation instructions. On Ubuntu systems apt-get can be used to install Swig:

  sudo apt-get install swig
  

Building from source

1. Clone the repository

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

2. Configure and build

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

3. Optionally, install Ignition Math

   sudo make install
   

Usage

Please refer to the examples directory.

Documentation

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
   

Testing

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
   

Ruby Tests

Usage

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

Tests

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

Folder Structure

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.

Contributing

Please see CONTRIBUTING.md.

Code of Conduct

Please see CODE_OF_CONDUCT.md.

Versioning

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.

License

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