Tools/Math/Common.h File Reference

This contains some often used mathematical definitions and functions. More...

#include <math.h>
#include <stdlib.h>

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constants for some often used angles
const double	pi = 3.1415926535897932384626433832795
	constant for a half circle
const double	pi2 = 2.0*3.1415926535897932384626433832795
	constant for a full circle
const double	pi3_2 = 1.5*3.1415926535897932384626433832795
	constant for three quater circle
const double	pi_2 = 0.5*3.1415926535897932384626433832795
	constant for a quarter circle
const double	pi_180 = 3.1415926535897932384626433832795/180
	constant for a 1 degree
const double	pi_4 = 3.1415926535897932384626433832795*0.25
	constant for a 1/8 circle
const double	pi3_4 = 3.1415926535897932384626433832795*0.75
	constant for a 3/8 circle
constant for bayesian filter
const double	e = 2.71828182845902353602874713527
	constant for e
Defines
#define	max(a, b)   (((a) > (b)) ? (a) : (b))
	defines the maximum of a and b
#define	min(a, b)   (((a) < (b)) ? (a) : (b))
	defines the minimum of a and b
#define	sgn(a)   ( (a) < 0 ? -1 : ((a)==0) ? 0 : 1 )
	defines the sign of a
#define	sqr(a)   ( (a) * (a) )
	defines the square of a value
Functions
double	sec (const double a)
double	cosec (const double a)
long	toMicroRad (double angle)
	Converts angle from rad to long in microrad.
double	fromMicroRad (long microrad)
	Converts angle long in microrad to rad.
double	toDegrees (double angle)
	Converts angle from rad to degrees.
double	fromDegrees (double degrees)
	Converts angle from degrees to rad.
double	normalize (double data)
	reduce angle to [-pi..+pi]
double	random ()
	The function returns a random number in the range of [0..1].
int	random (int n)
	The function returns a random integer number in the range of [0..n-1].

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Detailed Description

This contains some often used mathematical definitions and functions.

Author:

Martin Kallnik

Max Risler

Definition in file Common.h.

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Define Documentation

#define max (  a, b   )     (((a) > (b)) ? (a) : (b))

defines the maximum of a and b Definition at line 16 of file Common.h. Referenced by Boundary< double >::Boundary(), GT2004HeadPathPlanner::calculateHeadTiming(), RBridgeSpecialist::countColors(), BoxSpecialist::countColors(), BarCodeReader::execute(), GT2004BasicBehaviorGoToPoint::execute(), GT2004BasicBehaviorGoaliePosition::execute(), GT2004BasicBehaviorGoToBall::execute(), GT2004BallSpecialist::findEndOfBall(), GT2004StrategySymbols::getGoalieMaxPositionSpeed(), RandomMotionGenerator::getRandomNumberBetween(), GT2004BallSpecialist::getSimilarityToOrange(), ForwardTurningParcour::getTargetPose(), InvKinWalkingParameters::getValue(), GT2004Parameters::getValue(), PotentialfieldComposition::getValueArray(), Potentialfield::getValueArray(), GTStandardConverter::getValueArray(), GT2004CollisionDetector::GT2004CollisionDetector(), Individual::mutationOf(), Permutation::perm(), PIDsmoothedValue::PIDsmoothedValue(), Range< double >::Range(), and GT2004SelfLocator::updateByOdometry().

#define min (  a, b   )     (((a) < (b)) ? (a) : (b))

defines the minimum of a and b Definition at line 24 of file Common.h. Referenced by Boundary< double >::Boundary(), GT2004ParametersSet::calculateMergedParameterSet(), RBridgeSpecialist::countColors(), BoxSpecialist::countColors(), createLinearSegment(), FieldDimensions::distanceToBorder(), BarCodeReader::execute(), GT2004CollisionDetector::execute(), GT2004BasicBehaviorGoToPoint::execute(), GT2004BasicBehaviorGoaliePosition::execute(), GT2004BasicBehaviorGoToBall::execute(), ObstaclesModel::getAngleOfLargeGapInRange(), ObstaclesModel::getAngleOfLargeGapInRange2(), GT2004EdgeSpecialist::getEdgesPercept(), GT2004StrategySymbols::getGoalieMaxPositionSpeed(), getMin(), RingBufferWithSum< 60 >::getMinimum(), RandomMotionGenerator::getRandomNumberBetween(), GT2004BallSpecialist::getSimilarityToOrange(), BallModel::getTimeSinceLastKnown(), InvKinWalkingParameters::getValue(), GT2004Parameters::getValue(), Potentialfield::getValueArray(), GT2004CollisionDetector::GT2004CollisionDetector(), Individual::mutationOf(), Permutation::perm(), PIDsmoothedValue::PIDsmoothedValue(), Range< double >::Range(), AutoShutter::selectBest(), ColorTableReferenceColor::setGreen(), and LandmarksState::timeBetweenSeen2LastBeacons().

#define sgn (  a   )     ( (a) < 0 ? -1 : ((a)==0) ? 0 : 1 )

defines the sign of a Definition at line 37 of file Common.h. Referenced by OCBridge::addPercept(), BitePoint::addPercept(), GT2004HeadControl::calculateClosestLandmark(), ObservationTable< 280, 200, 25 >::create(), GT2004ImageProcessor::scan(), OpenChallengeSymbols::update(), and GT2004MotionControl::wagTail().

#define sqr (  a   )     ( (a) * (a) )

defines the square of a value Definition at line 44 of file Common.h. Referenced by RasterImageProcessor::addFlag(), Geometry::calculateAnglesForPoint(), RBridgeSpecialist::calculateAnglesForPoint(), BoxSpecialist::calculateAnglesForPoint(), Geometry::calculateBallInImage(), Geometry::calculateLineSize(), GT2004ParametersSet::calculateMergedParameterSet(), ObservationTable< 280, 200, 25 >::draw(), GT2004ImageProcessor::execute(), Geometry::getCircle(), GT2004FlagSpecialist::getFlagPercept(), BallPercept::getOffsetIntrinsic(), BallPercept::getOffsetSizeBased(), GT2004ParametersSet::getSpeed(), Geometry::Line::normalizeDirection(), GT2004ImageProcessor::scan(), GT2004FlagSpecialist::searchFlags(), and GaussBell::setCovarianceMatrix().

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Function Documentation

double sec (  const double  a  )  [inline]

Definition at line 47 of file Common.h. Referenced by GT2004BasicBehaviorNextGT2004ParametersToBeMeasured::execute(), and QueueFillRequest::QueueFillRequest().

double cosec (  const double  a  )  [inline]

Definition at line 49 of file Common.h.

long toMicroRad (  double  angle  )  [inline]

Converts angle from rad to long in microrad. Robot uses long microrad for joint angles. Parameters: angle  coded in rad Returns: angle coded in microrad Definition at line 80 of file Common.h. Referenced by InvKinWalkingEngine::calculateData(), GT2004WalkingEngine::calculateData(), DebugMotionControl::clip(), SimpleMotionRecognition::getAngleYZ(), SimpleMotionRecognition::headIsNotInMotion(), GT2004HeadPathPlanner::headPositionReached(), GT2004HeadControl::setJointsDirect(), and GT2004MotionControl::wagTail().

double fromMicroRad (  long  microrad  )  [inline]

Converts angle long in microrad to rad. Parameters: microrad  angle coded in microrad Returns: angle coded in rad Definition at line 87 of file Common.h. Referenced by GT2004SensorDataProcessor::buildCameraMatrix(), GT2004SensorDataProcessor::buildPSDPercept(), Kinematics::calcAbsRoll(), Kinematics::calcHeadHeight(), BB2004Calibrator::evolve(), GT2004BasicBehaviorDogAsJoystick::execute(), GT2004SensorDataProcessor::getCameraVelocity(), Kinematics::getRelativeRobotVertices(), OpenChallengeSymbols::getSensorAccelerationX(), OpenChallengeSymbols::getSensorAccelerationY(), OpenChallengeSymbols::getSensorAccelerationZ(), and OpenChallengeSymbols::update().

double toDegrees (  double  angle  )  [inline]

Converts angle from rad to degrees. Parameters: angle  code in rad Returns: angle coded in degrees Definition at line 94 of file Common.h. References pi. Referenced by GT2004ObstaclesLocator::addPSDPercept(), MathFunctions::angleTo(), ChallengeSymbols::challenge2TargetPositionRotation(), GT2004ImageProcessor::execute(), GT2004BasicBehaviorDogAsJoystick::execute(), GT2004BasicBehaviorGoToPoint::execute(), GT2004BasicBehaviorGoaliePositionReturn::execute(), GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), GT2004PotentialFieldBasicBehaviorSupport::execute(), GT2004PotentialFieldBasicBehaviorGoToPose::execute(), GT2004BasicBehaviorEvolveOmniParameters::execute(), ChallengeSpecialVision::executeFindOrientation(), ChallengeSpecialVision::executeLearnOrientation(), ChallengeSpecialVision::executeReset(), RobotPoseSymbols::getAngle(), RobotPoseSymbols::getAngleToBorder(), AngleSymbols::getAngleToCenterOfField(), BallSymbols::getAngleToOpponentGoal(), AngleSymbols::getAngleToOpponentGoal(), AngleSymbols::getAngleToPointBehindOpponentGoal(), GT2004StrategySymbols::getAngleToTeammate(), AngleSymbols::getBestAngleAwayFromOwnGoal(), AngleSymbols::getBestAngleAwayFromOwnGoalNoObstacles(), AngleSymbols::getBestAngleToOpponentGoal(), AngleSymbols::getBestAngleToOpponentGoalNoObstacles(), GT2004SensorDataProcessor::getCameraVelocity(), AngleSymbols::getGoalieGoalKickAngle(), BallSymbols::getKnownAngle(), MathFunctions::getNormalize(), BallSymbols::getSeenAngle(), OpenChallengeSymbols::getSeenAngleToBitePoint(), OpenChallengeSymbols::getSeenAngleToBridge(), OpenChallengeSymbols::getSensorAccelerationX(), OpenChallengeSymbols::getSensorAccelerationY(), OpenChallengeSymbols::getSensorAccelerationZ(), GT2004BehaviorControl::postExecute(), OpenChallengeSymbols::redLineAngle(), GT2004BallLocator::setBallStateV2(), OpenChallengeSymbols::update(), GT2004ConfigurationSymbols::update(), and RobotPoseSymbols::updateGoalieDefendPosition().

double fromDegrees (  double  degrees  )  [inline]

Converts angle from degrees to rad. Parameters: degrees  angle coded in degrees Returns: angle coded in rad Definition at line 100 of file Common.h. References pi_180. Referenced by AngleSymbols::calculateCombinedAngles(), RobotPoseSymbols::computeGoalieDefendMinPos(), GT2004BasicBehaviorGoToPoint::execute(), GT2004BasicBehaviorGoForwardToPoint::execute(), GT2004BasicBehaviorTurnAroundPoint::execute(), GT2004BasicBehaviorGoaliePositionReturn::execute(), GT2004BasicBehaviorGoToBall::execute(), GT2004PotentialFieldBasicBehaviorGoToPose::execute(), GT2004BasicBehaviorEvolveOmniParameters::execute(), BasicBehaviorStand::execute(), BasicBehaviorWalk::execute(), MathFunctions::getCos(), MathFunctions::getNormalize(), MotionRecognition::getRobotRotationFromBounce(), MathFunctions::getSin(), GTStandardConverter::load(), WalkAccelerationRestrictor::restrictAccelerations(), KickSelectionTable::retrieveKick(), GoalRecognizer::scanLinesForGoals(), GT2004GoalRecognizer::scanLinesForGoals(), OpenChallengeSymbols::update(), GT2004ConfigurationSymbols::update(), ObstaclesSymbols::update(), and RobotPoseSymbols::updateGoalieDefendPosition().

double normalize (  double  data  )  [inline]

reduce angle to [-pi..+pi] Parameters: data  angle coded in rad Returns: normalized angle coded in rad Definition at line 107 of file Common.h. References pi, and pi2. Referenced by GT2004ObstaclesLocator::addObstaclePoint(), GT2004ObstaclesLocator::addObstaclePoints(), GT2004ObstaclesLocator::addPSDPercept(), GT2004HeadControl::beginBallSearchAt(), GT2004ImageProcessor::calcEdgeAngle(), GT2004HeadControl::calculateClosestLandmark(), AngleSymbols::calculateCombinedAngles(), GT2004ObstaclesLocator::determineNextFreeTeammate(), GT2004StrategySymbols::estimateTimeToReachBall(), GT2004ImageProcessor::execute(), GT2004BasicBehaviorGoToPoint::execute(), GT2004BasicBehaviorGoaliePositionReturn::execute(), GT2004BasicBehaviorEvolveOmniParameters::execute(), GT2004ImageProcessor::filterLinesPercept(), AngleSymbols::getAngleToCenterOfField(), BallSymbols::getAngleToOpponentGoal(), AngleSymbols::getAngleToOpponentGoal(), AngleSymbols::getAngleToPointBehindOpponentGoal(), AngleSymbols::getBestAngleAwayFromOwnGoal(), AngleSymbols::getBestAngleAwayFromOwnGoalNoObstacles(), AngleSymbols::getBestAngleToOpponentGoal(), AngleSymbols::getBestAngleToOpponentGoalNoObstacles(), Field::getClosestPoint(), AngleSymbols::getGoalieGoalKickAngle(), MathFunctions::getNormalize(), ObstaclesModel::getSectorFromAngle(), GT2004BallLocator::handleSeenBall(), Pose2D::operator+=(), GT2004BehaviorControl::postExecute(), KickSelectionTable::retrieveKick(), and Parcour::update().

double random (   )  [inline]

The function returns a random number in the range of [0..1]. Returns: The random number. Definition at line 126 of file Common.h. Referenced by Individual::crossingOverOf(), Population< GT2004Parameters, 10 >::evolve(), GT2004SelfLocator::execute(), BBInvKinIndividual::extrapolate(), CalibrationIndividual::extrapolate(), BBInvKinIndividual::interpolate(), CalibrationIndividual::interpolate(), BBInvKinIndividual::mutate(), CalibrationIndividual::mutate(), Individual::mutationOf(), Pose2D::random(), random(), GT2004SelfLocator::resample(), TemplateTable< 50000 >::sample(), and GT2004SelfLocator::updateByOdometry().

int random (  int  n  )  [inline]

The function returns a random integer number in the range of [0..n-1]. Parameters: n  the number of possible return values (0 ... n-1) Returns: The random number. Definition at line 133 of file Common.h. References random().

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Variable Documentation

const double pi = 3.1415926535897932384626433832795

constant for a half circle Definition at line 54 of file Common.h. Referenced by GT2004ImageProcessor::calcEdgeAngle(), Kinematics::calcHeadHeight(), AngleSymbols::calculateCombinedAngles(), GT2004ParametersSet::calculateMergedParameterSet(), InvKinWalkingEngine::calculateRelativeFootPosition(), GT2004WalkingEngine::calculateRelativeFootPosition(), ChallengeSymbols::challenge2OptimalRotation(), RandomMotionGenerator::computeDirection(), ConditionalBoundary::ConditionalBoundary(), TemplateTable< 50000 >::create(), BoxSpecialist::detectFreePartOfGoal(), ObstacleAvoiderOnGreenFieldERS7::execute(), ObstacleAvoiderOnGreenField::execute(), GT2004ImageProcessor::execute(), GT2004BasicBehaviorGoToPointAndAvoidObstacles::execute(), GT2004BasicBehaviorTurnAroundPoint::execute(), GT2004BasicBehaviorGoToBall::execute(), GT2004PotentialFieldBasicBehaviorGoToPose::execute(), GT2004BasicBehaviorNextGT2004ParametersToBeMeasured::execute(), GT2004BasicBehaviorMeasureGT2004ParametersBlind::execute(), PotentialfieldAStarNode::expand(), GT2004ImageProcessor::filterPercepts(), ObstaclesModel::getAngleOfSector(), CheckerboardDetector::getPositionFromAngles(), GT2004ParametersSet::getRatio(), ObstaclesModel::getSectorFromAngle(), ForwardTurningParcour::getTargetPose(), GT2004BasicBehaviorEvolveOmniParameters::GT2004BasicBehaviorEvolveOmniParameters(), GT2004BasicBehaviorGoToPointAndAvoidObstacles::GT2004BasicBehaviorGoToPointAndAvoidObstacles(), GT2004EdgeSpecialist::GT2004EdgeSpecialist(), GT2004ImageProcessor::GT2004ImageProcessor(), GT2004HeadPathPlanner::headPositionReached(), intersectCircleAndCircle(), KalmanConstantSpeedModel::KalmanConstantSpeedModel(), FourierCoefficient::merge(), Individual::mutationOf(), normalize(), PfPose::normRotation(), ObstacleAvoiderOnGreenField::ObstacleAvoiderOnGreenField(), ObstacleAvoiderOnGreenFieldERS7::ObstacleAvoiderOnGreenFieldERS7(), GT2004SelfLocator::poseFromBearings(), GT2004SelfLocator::poseFromBearingsAndDistance(), RandomMotionGenerator::RandomMotionGenerator(), Field::randomPose(), KickSelectionTable::retrieveKick(), TemplateTable< 50000 >::sample(), GT2004ParametersSet::setRatio(), GT2004ParametersSet::setSpeed(), SpecialPerceptSelfLocator::SpecialPerceptSelfLocator(), toDegrees(), EvolutionSymbols::update(), GT2004SelfLocator::updateByFlag(), GT2004SelfLocator::updateByGoalPost(), GT2004SelfLocator::updateByPoint(), and GT2004MotionControl::wagTail().

const double pi2 = 2.0*3.1415926535897932384626433832795

constant for a full circle Definition at line 56 of file Common.h. Referenced by GT2004ImageProcessor::calcEdgeAngle(), GT2004SelfLocator::calcPose(), FourierCoefficient::calculate(), AngleSymbols::calculateCombinedAngles(), RBallSpecialist2::calculateLargeCircle(), AngleSymbols::calculateLocalisationBasedAngles(), RandomMotionGenerator::computeDirection(), PotentialfieldAStarNode::computeHeuristicBetween(), Image::convertFromYCbCrToHSI(), GT2004StrategySymbols::estimateTimeToReachBall(), PotentialfieldAStarNode::expand(), FourierCoefficient::fourierSynth(), ObstaclesModel::getAngleOfNextFreeSector(), ObstaclesModel::getAngleOfNextFreeSectorLeft(), ObstaclesModel::getAngleOfNextFreeSectorRight(), ObstaclesModel::getAngleOfSector(), Field::getClosestPoint(), ObstaclesModel::getSectorFromAngle(), GT2004ObstaclesLocator::GT2004ObstaclesLocator(), FourierCoefficient::merge(), Individual::mutationOf(), normalize(), PfPose::normRotation(), Polygon::pointInside(), GT2004SelfLocator::poseFromBearings(), reduceToConvexHullByWrapping(), and KickSelectionTable::retrieveKick().

const double pi3_2 = 1.5*3.1415926535897932384626433832795

constant for three quater circle Definition at line 58 of file Common.h.

const double pi_2 = 0.5*3.1415926535897932384626433832795

constant for a quarter circle Definition at line 60 of file Common.h. Referenced by OCBridge::addPercept(), BitePoint::addPercept(), GT2004ImageProcessor::calcEdgeAngle(), Geometry::calculateBallInImage(), ChallengeSymbols::challenge2OptimalRotation(), Object::computeAbsFieldVecAt(), CircleCalculation::cutMiddlePerpendiculars(), Field::getClosestPoint(), ObstaclesModel::getDistanceInCorridor(), CheckerboardDetector::getMiddleAndLengthOfPerpendicular(), GT2004ParametersSet::GT2004ParametersSet(), Kinematics::jointsFromLegPosition(), GT2004SelfLocator::poseFromBearingsAndDistance(), GT2004ObstaclesLocator::setObstaclesModel(), theta(), and ObstaclesSymbols::update().

const double pi_180 = 3.1415926535897932384626433832795/180

constant for a 1 degree Definition at line 62 of file Common.h. Referenced by fromDegrees(), and Parser::parseAngle().

const double pi_4 = 3.1415926535897932384626433832795*0.25

constant for a 1/8 circle Definition at line 64 of file Common.h. Referenced by GT2004BallSpecialist::addBallPercept(), GT2004BasicBehaviorNextGT2004ParametersToBeMeasured::execute(), ForwardTurningParcour::getTargetPose(), GT2004ParametersSet::GT2004ParametersSet(), ObstacleAvoiderOnGreenField::ObstacleAvoiderOnGreenField(), ObstacleAvoiderOnGreenFieldERS7::ObstacleAvoiderOnGreenFieldERS7(), and GaussBell::updateSigmasAndAngle().

const double pi3_4 = 3.1415926535897932384626433832795*0.75

constant for a 3/8 circle Definition at line 66 of file Common.h.

const double e = 2.71828182845902353602874713527

constant for e Definition at line 72 of file Common.h. Referenced by Kinematics::calcLegPosition(), slist< figure >::erase(), GT2004SelfLocator::execute(), invert2(), slist< T >::iterator::operator!=(), slist< T >::iterator::operator=(), and Xabsl2Engine::Xabsl2Engine().

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