AuvMath Class Reference

Contains useful math-related utilities. More...

#include <AuvMath.h>

Public Member Functions
template<>
uint8_t	FlipEndian (uint8_t value)
	Has no effect, but included for use by template functions that accept uint8_t. More...
template<>
int8_t	FlipEndian (int8_t value)
	Has no effect, but included for use by template functions that accept int8_t. More...
template<>
uint16_t	FlipEndian (uint16_t value)
template<>
int16_t	FlipEndian (int16_t value)
template<>
uint32_t	FlipEndian (uint32_t value)
template<>
int32_t	FlipEndian (int32_t value)
template<>
uint64_t	FlipEndian (uint64_t value)
template<>
int64_t	FlipEndian (int64_t value)
template<>
float	FlipEndian (float value)
template<>
double	FlipEndian (double value)

Static Public Member Functions
template<typename T >
static T	Limit (const T &value, const T &limit1, const T &limit2)
	Makes sure a variable falls within defined limits... More...
template<typename T >
static bool	InLimit (const T &value, const T &limit1, const T &limit2)
	Tests if a variable falls within defined limits... More...
template<typename T >
static T	Min (const T &a, const T &b)
	Returns the lesser of the two arguments If either input is nan, nan is returned Unit tests in AuvMath_Test.testMin. More...
template<typename T >
static T	Max (const T &a, const T &b)
	Returns the greater of the two arguments If either input is nan, nan is returned Unit tests in AuvMath_Test.testMin. More...
template<typename T >
static T	Square (T number)
	Square function (opposite of sqrt(T)) More...
template<typename T >
static void	Swap (T &a, T &b)
	Swaps the two arguments. More...
template<typename T >
static T	FlipEndian (T value)
	Does not test the endianness of the input value, Just flips it. More...
template<typename T >
static T	Round (const T &value, const T &divisor)
	Makes sure a variable is divisible by specified divisor... More...
template<typename T >
static T	Sign (const T &x)
	Returns signum function: If input is nan, nan is returned Unit tests in AuvMath_Test.testSign. More...
template<typename T >
static T	ModPi (const T &angle)
	modulo Pi function: If input is nan, nan is returned Unit tests in AuvMath_Test.testModPi More...
template<typename T >
static T	NanZero (const T &value)
	Casts nan values to zero – otherwise returns the value Unit tests in AuvMath_Test.testNanZero. More...
template<typename T >
static int	FindLtEqIndex (const T *values, const T &value, const unsigned int indexMin, const unsigned int indexMax)
	Finds the index within an array where the value is <= the supplied value Searches from indexMin to indexMax within the array. More...
template<typename T >
static T	Interpolate1D (const T &x, const T &data0, const T &data1, const T &x0, const T &x1)
	Examines a 2 element data field for the value, where x0 <= x <= x1 Unit tests in AuvMath_Test.testInterpolate1D. More...
template<typename T >
static T	Interpolate2D (const T &x, const T &y, T data[][2], const T &x0, const T &x1, const T &y0, const T &y1)
	Examines a 2x2 data field for the value, where x0 <= x <= x1, y0 <= y <= y1, Unit tests in AuvMath_Test.testInterpolate2D. More...
template<typename T >
static T	Interpolate3D (const T &x, const T &y, const T &z, T data[][2][2], const T &x0, const T &x1, const T &y0, const T &y1, const T &z0, const T &z1)
	Examines a 2x2x2 data field for the value, where x0 <= x <= x1, y0 <= y <= y1, z0 <= z <= z1 Unit tests in AuvMath_Test.testInterpolate3D. More...
template<typename T >
static T	Interpolate4D (const T &w, const T &x, const T &y, const T &z, T data[][2][2][2], const T &w0, const T &w1, const T &x0, const T &x1, const T &y0, const T &y1, const T &z0, const T &z1)
	Examines a 2x2x2x2 data field for the value, where w0 <= w <= w1, x0 <= x <= x1, y0 <= y <= y1, z0 <= z <= z1 Unit tests in AuvMath_Test.testInterpolate4D. More...
static double	BulkModulus (double salinity, double temperature, double pressure)
	Seawater bulk modulus (S,T,P) More...
static double	Density (double salinity, double temperature, double pressure)
	Seawater density (S,T,P) More...
static double	OceanDepth (const double &pressure, const double &latitude)
	OceanDepth (pressure, latitude) More...
static double	OceanPressure (const double &depth, const double &latitude)
	OceanPressure (depth, latitude) More...
template<typename T >
static void	ShellSort (T array[], int arraySize)
static bool	AreaContains (float x, float y, int segments, float *x0, float *y0, float *x1, float *y1)
static bool	TriangleContains (float x, float y, float x0, float y0, float x1, float y1, float x2, float y2)
static void	UnitVectorToAzimuthAndElevation (Point3D &uhat, float &azimuth, float &elevation)
static void	AzimuthAndElevationToUnitVector (float &azimuth, float &elevation, Point3D &uhat)

Static Public Attributes
static const double	TWOPI = M_PI * 2.0
static const double	DEG_TO_RAD = atan( 1 ) / 45
static const double	RAD_TO_DEG = 45 / atan( 1 )

Detailed Description

Contains useful math-related utilities.

Originally called Math.h, but could be confused with math.h

Member Function Documentation

bool AuvMath::AreaContains ( float  x, float  y, int  segments, float *  x0, float *  y0, float *  x1, float *  y1  )

static

Referenced by NavChartDb::appendToContour(), NavChartDb::appendToSoundings(), AuvMath_Test::testAreaContains(), and TriangleContains().

void AuvMath::AzimuthAndElevationToUnitVector ( float &  azimuth, float &  elevation, Point3D &  uhat  )

static

References Point3D::setX(), Point3D::setY(), and Point3D::setZ().

Referenced by DAT::getSimulatedMeasurements().

double AuvMath::BulkModulus ( double  salinity, double  temperature, double  pressure  )

static

Seawater bulk modulus (S,T,P)

UNESCO Tech Paper Mar Sci 44 (1983)

Use As: bulkmod_(S,T,P)

Input: salinity (psu) temperature (K) pressure (Pa)

Output: Bulk Modulus in Pa

Example: BulkModulus(35,283.15,4e7) -> 2.404604869e9 BulkModulus(35,298.15,1e8)-> 2.710894504e9 UNESCO 36 p19

Copyright (c) 1996 by Moss Landing Marine Laboratories Separated out from DENSITY_83 15 February 1992; W. BroenkowUnit tests in AuvMath_Test.testBulkModulus

Referenced by Density(), and AuvMath_Test::testBulkModulus().

double AuvMath::Density ( double  salinity, double  temperature, double  pressure  )

static

Seawater density (S,T,P)

International Equation of State of Seawater (1980) UNESCO Tech Paper Mar Sci 44 (1983)

Use As: density_(S,T,P)

Input: S = Salinity (psu) T = Temperature (K) P = Pressure (Pa) Output: density (kg/m3)

Example: Density(34.567,278.15,2e7) -> 1036.409 Density(35,298.15,1e8) -> 1062.53817 UNESCO 44 p19

Copyright (c) 1996 by Moss Landing Marine Laboratories William Broenkow Checks perfectly with UNESCO 44. This function requires BulkmodUnit tests in AuvMath_Test.testDensity

References BulkModulus().

Referenced by CTD_NeilBrown::getSimulatedData(), CTD_NeilBrown::preprocessData(), EnvSimulator::simulateSensors(), and AuvMath_Test::testDensity().

template<typename T >

int AuvMath::FindLtEqIndex ( const T *  values, const T &  value, const unsigned int  indexMin, const unsigned int  indexMax  )

static

Finds the index within an array where the value is <= the supplied value Searches from indexMin to indexMax within the array.

Assumes the array is in increasing order. Unit tests in AuvMath_Test.testFindLtEqIndex

Referenced by EnvSimulator::simulateSensors(), and AuvMath_Test::testFindLtEqIndex().

template<typename T >

static T AuvMath::FlipEndian ( T  value )

static

Does not test the endianness of the input value, Just flips it.

Referenced by FlipEndian(), BlobValue::getElement(), and BlobValue::setElement().

template<>

uint8_t AuvMath::FlipEndian

(

uint8_t

value

)

Has no effect, but included for use by template functions that accept uint8_t.

template<>

int8_t AuvMath::FlipEndian

(

int8_t

value

)

Has no effect, but included for use by template functions that accept int8_t.

template<>

uint16_t AuvMath::FlipEndian

(

uint16_t

value

)

template<>

int16_t AuvMath::FlipEndian

(

int16_t

value

)

template<>

uint32_t AuvMath::FlipEndian

(

uint32_t

value

)

template<>

int32_t AuvMath::FlipEndian

(

int32_t

value

)

template<>

uint64_t AuvMath::FlipEndian

(

uint64_t

value

)

template<>

int64_t AuvMath::FlipEndian

(

int64_t

value

)

template<>

float AuvMath::FlipEndian

(

float

value

)

References FlipEndian().

template<>

double AuvMath::FlipEndian

(

double

value

)

References FlipEndian().

template<typename T >

bool AuvMath::InLimit ( const T &  value, const T &  limit1, const T &  limit2  )

static

Tests if a variable falls within defined limits...

Tests whether a variable falls within defined limits...

Either limit may be min or max. If any input is nan, false is returned Unit tests in AuvMath_Test.testLimit

Either limit may be min or max. If any input is nan, nan is returned

Referenced by PNI_TCM::runnable().

template<typename T >

T AuvMath::Interpolate1D ( const T &  x, const T &  data0, const T &  data1, const T &  x0, const T &  x1  )

static

Examines a 2 element data field for the value, where x0 <= x <= x1 Unit tests in AuvMath_Test.testInterpolate1D.

Referenced by TableLogWriter::interpolateDataEntry(), AuvMath_Test::testInterpolate1D(), HFRadarModelPoint::travelTime(), and EnvSimulator::twoLineEstimate().

template<typename T >

T AuvMath::Interpolate2D ( const T &  x, const T &  y, T  data[][2], const T &  x0, const T &  x1, const T &  y0, const T &  y1  )

static

Examines a 2x2 data field for the value, where x0 <= x <= x1, y0 <= y <= y1, Unit tests in AuvMath_Test.testInterpolate2D.

Referenced by HFRCMSpaceInterpolator::interpolateRaveledTwoDimensionalGrid(), HFRadarModelPoint::makeFine(), and AuvMath_Test::testInterpolate2D().

template<typename T >

T AuvMath::Interpolate3D ( const T &  x, const T &  y, const T &  z, T  data[][2][2], const T &  x0, const T &  x1, const T &  y0, const T &  y1, const T &  z0, const T &  z1  )

static

Examines a 2x2x2 data field for the value, where x0 <= x <= x1, y0 <= y <= y1, z0 <= z <= z1 Unit tests in AuvMath_Test.testInterpolate3D.

Referenced by EnvSimulator::interpolate(), HFRCMReconstructedInterpolator::interpolateRaveledThreeDimensionalGrid(), HFRadarModelCalc::lookup(), and AuvMath_Test::testInterpolate3D().

template<typename T >

T AuvMath::Interpolate4D ( const T &  w, const T &  x, const T &  y, const T &  z, T  data[][2][2][2], const T &  w0, const T &  w1, const T &  x0, const T &  x1, const T &  y0, const T &  y1, const T &  z0, const T &  z1  )

static

Examines a 2x2x2x2 data field for the value, where w0 <= w <= w1, x0 <= x <= x1, y0 <= y <= y1, z0 <= z <= z1 Unit tests in AuvMath_Test.testInterpolate4D.

Referenced by AuvMath_Test::testInterpolate4D().

template<typename T >

T AuvMath::Limit ( const T &  value, const T &  limit1, const T &  limit2  )

static

Makes sure a variable falls within defined limits...

Either limit may be min or max. If any input is nan, nan is returned Unit tests in AuvMath_Test.testLimit

Either limit may be min or max. If any input is nan, nan is returned

Referenced by VerticalControl::controlDepth(), VerticalControl::controlDepthRate(), HorizontalControl::controlHeading(), VerticalControl::elevatorControl(), HorizontalControl::headingControl(), PeakDetectVsDepth::initialize(), EZServoServo::limit(), VerticalControl::massAndElevatorControl(), VerticalControl::massControl(), Trajectory::project(), LoopControl::run(), SBIT::run(), PitchServo::run(), DepthServo::run(), VerticalControl::setBuoyancy(), VerticalControl::setMassAndElevator(), VerticalControl::setPitch(), VerticalControl::setPitchRate(), and AuvMath_Test::testLimit().

template<typename T >

static T AuvMath::Max ( const T &  a, const T &  b  )

inlinestatic

Returns the greater of the two arguments If either input is nan, nan is returned Unit tests in AuvMath_Test.testMin.

References MAX.

Referenced by CommandLine::commandIbitMcp3553(), ValueClause::eval(), HDF5Dataset::HDF5Dataset(), PeakDetectHorizontal::initialize(), HFRadarModelPoint::makeFine(), Slate::RegisterCodedName(), Slate::RegisterDataAccess(), Slate::RegisterElementURI(), AuvMath_Test::testMax(), and HDF5Dataset::writeDataValue().

template<typename T >

static T AuvMath::Min ( const T &  a, const T &  b  )

inlinestatic

Returns the lesser of the two arguments If either input is nan, nan is returned Unit tests in AuvMath_Test.testMin.

References MIN.

Referenced by TempGradientCalculator::captureTempGradPeak(), CommandLine::commandIbitMcp3553(), VerticalControl::controlDepth(), ValueClause::eval(), Circle::initialize(), HFRadarModelPoint::makeFine(), Aanderaa_O2::runnable(), WetLabsBB2FL::runnable(), Aanderaa_O2::starting(), WetLabsBB2FL::starting(), DecimationLogWriter::Str2DecimationType(), LogWriter::Str2ServiceType(), AuvMath_Test::testMin(), and HDF5Dataset::writeDataValue().

template<typename T >

T AuvMath::ModPi ( const T &  angle )

static

modulo Pi function: If input is nan, nan is returned Unit tests in AuvMath_Test.testModPi

References M_1_2PI, and M_2PI.

Referenced by Location::AtBearingEllipsoid(), Point::calcSatisfied(), ZigZag::calculate(), HorizontalControl::controlHeading(), Lane::doRun(), HorizontalControl::headingControl(), Point::initialize(), Circle::isSatisfied(), PNI_TCM::processData(), Trajectory::project(), YawRateCalculator::run(), PitchRateCalculator::run(), Circle::run(), Simulator::run(), WaterDepthEnvelope::runIfUnsatisfied(), OffshoreEnvelope::runIfUnsatisfied(), AHRS_3DMGX3::runnable(), AHRS_sp3003D::runnable(), and AuvMath_Test::testModPi().

template<typename T >

T AuvMath::NanZero ( const T &  value )

static

Casts nan values to zero – otherwise returns the value Unit tests in AuvMath_Test.testNanZero.

Referenced by HFRCMVirtualSurfaceDrifter::advect(), VerticalControl::controlDepth(), VerticalControl::controlDepthRate(), HorizontalControl::controlHeading(), DeadReckonUsingCompactModelForecast::deadReckon(), DeadReckoner::deadReckon(), VerticalControl::elevatorControl(), HorizontalControl::headingControl(), VerticalControl::massAndElevatorControl(), VerticalControl::massControl(), Onboard::run(), PitchServo::run(), DepthServo::run(), HorizontalControl::setHeadingRate(), VerticalControl::setPitchRate(), and AuvMath_Test::testNanZero().

double AuvMath::OceanDepth ( const double &  pressure, const double &  latitude  )

static

OceanDepth (pressure, latitude)

For pressure in pascals and latitude in radians, return depth in meters.

Use As: OceanDepth(pressure, latitude)

Input: pressure (Pa), latitude (radians) Output: Depth (m)

Example: Depth(5e7,0.628318531) -> 4906.08 Depth(1e8,1.570796327) -> 9674.23 UNESCO 44 p28

Note: For more accurate results an additional factor of the ratio of the actual geopotential anomaly/gravity must be added. This correction will be less than 2 m.

Ref: UNESCO Tech Paper Mar Sci 44 (1983) Copyright (c) 1996 by Moss Landing Marine Laboratories 17 Jan 1996; W. Broenkow Matlabized from UNESCO83.FORUnit tests in AuvMath_Test.testOceanDepth

Referenced by CTD_NeilBrown::preprocessData(), Depth_Keller::run(), and AuvMath_Test::testOceanDepth().

double AuvMath::OceanPressure ( const double &  depth, const double &  latitude  )

static

OceanPressure (depth, latitude)

For depth in meters and latitude in radians, return pressure in pascals.

Use As: OceanPressure(depth, latitude)

Input: depth (m), latitude (radians) Output: pressure (Pa)

Example: OceanPressure(4906.08,0.628318531) -> 5e7 OceanPressure(9674.23,1.570796327) -> 1e8 UNESCO 44 p28

Ref: UNESCO Tech Paper Mar Sci 44 (1983)Unit tests in AuvMath_Test.testOceanPressure

Referenced by CTD_NeilBrown::getSimulatedData(), Depth_Keller::run(), ExternalSim::run(), EnvSimulator::simulateSensors(), and AuvMath_Test::testOceanPressure().

template<typename T >

T AuvMath::Round ( const T &  value, const T &  divisor  )

static

Makes sure a variable is divisible by specified divisor...

If any input is nan, nan is returned Unit tests in AuvMath_Test.testRound

If any input is nan, nan is returned

Referenced by AuvMath_Test::testRound().

template<typename T >

static void AuvMath::ShellSort ( T  array[], int  arraySize  )

inlinestatic

Referenced by AuvMath_Test::testShellSort().

template<typename T >

T AuvMath::Sign ( const T &  x )

static

Returns signum function: If input is nan, nan is returned Unit tests in AuvMath_Test.testSign.

Referenced by Point::calcSatisfied(), Mtx::Comp0(), Mtx::Comp1(), Mtx::Comp2(), Float::compare(), Double::compare(), HorizontalControl::headingControl(), AsyncPiEstimator::run(), HorizontalControl::setHeading(), VerticalControl::setMassAndElevator(), and AuvMath_Test::testSign().

template<typename T >

static T AuvMath::Square ( T  number )

inlinestatic

Square function (opposite of sqrt(T))

Referenced by Location::GetDistanceFast(), NavChartDb::getDistanceFromShore(), NavChartDb::getSeaFloorDepth(), and NavChartDb::updateClosest().

template<typename T >

static void AuvMath::Swap ( T &  a, T &  b  )

inlinestatic

Swaps the two arguments.

Referenced by AuvMath_Test::testSwap(), and Matrix3x3::transpose().

bool AuvMath::TriangleContains ( float  x, float  y, float  x0, float  y0, float  x1, float  y1, float  x2, float  y2  )

static

References AreaContains().

void AuvMath::UnitVectorToAzimuthAndElevation ( Point3D &  uhat, float &  azimuth, float &  elevation  )

static

Referenced by DAT::directionsToAngles().

Member Data Documentation

const double AuvMath::DEG_TO_RAD = atan( 1 ) / 45

static

Referenced by ExternalSim::run().

const double AuvMath::RAD_TO_DEG = 45 / atan( 1 )

static

Referenced by DVL_micro::simNQ1().

const double AuvMath::TWOPI = M_PI * 2.0

static

---

The documentation for this class was generated from the following files:

• /Volumes/ubuntu_share/lrauv-application/Source/utils/AuvMath.h
• /Volumes/ubuntu_share/lrauv-application/Source/utils/AuvMath.cpp