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Gazebo Math : Math classes and functions for robot applications\n\n**Maintainer:** scpeters AT openrobotics DOT org\n\n[![GitHub open issues](https://img.shields.io/github/issues-raw/gazebosim/gz-math.svg)](https://github.com/gazebosim/gz-math/issues)\n[![GitHub open pull requests](https://img.shields.io/github/issues-pr-raw/gazebosim/gz-math.svg)](https://github.com/gazebosim/gz-math/pulls)\n[![Discourse topics](https://img.shields.io/discourse/https/community.gazebosim.org/topics.svg)](https://community.gazebosim.org)\n[![Hex.pm](https://img.shields.io/hexpm/l/plug.svg)](https://www.apache.org/licenses/LICENSE-2.0)\n\nBuild | Status\n-- | --\nTest coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-math/branch/gz-math7/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-math/branch/gz-math7)\nUbuntu Jammy  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_math-ci-gz-math7-jammy-amd64)](https://build.osrfoundation.org/job/gz_math-ci-gz-math7-jammy-amd64)\nHomebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_math-ci-gz-math7-homebrew-amd64)](https://build.osrfoundation.org/job/gz_math-ci-gz-math7-homebrew-amd64)\nWindows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_math-7-clowin)](https://build.osrfoundation.org/job/gz_math-7-clowin)\n\nGazebo Math, a component of [Gazebo](https://gazebosim.org), provides general purpose math\nclasses and functions designed for robotic applications.\n\n# Table of Contents\n\n[Features](#features)\n\n[Install](#install)\n\n[Usage](#usage)\n\n[Folder Structure](#folder-structure)\n\n[Code of Conduct](#code-of-conduct)\n\n[Contributing](#code-of-contributing)\n\n[Versioning](#versioning)\n\n[License](#license)\n\n# Features\n\nGazebo Math provides a wide range of functionality, including:\n\n* Type-templated pose, matrix, vector, and quaternion classes.\n* Shape representations along with operators to compute volume, density, size and other properties.\n* Classes for material properties, mass, inertial, temperature, [PID](https://en.wikipedia.org/wiki/PID_controller), kmeans, spherical coordinates, and filtering.\n* Optional Eigen component that converts between a few Eigen and Gazebo\nMath types.\n\n# Install\n\nSee the [installation tutorial](https://gazebosim.org/api/math/7/install.html).\n\n# Usage\n\nPlease refer to the [examples directory](https://github.com/gazebosim/gz-math/raw/gz-math7/examples/).\n\n# Folder Structure\n\nRefer to the following table for information about important directories and files in this repository.\n\n```\ngz-math\n├── examples                 Example programs.\n├── include/gz/math          Header files.\n├── src                      Source files and unit tests.\n│   └── graph                Source files for the graph classes.\n│   └── python_pybind11      Pybind11 Python interfaces.\n│   └── ruby                 SWIG Ruby interfaces.\n├── eigen3                   Files for Eigen component.\n├── test\n│    ├── integration         Integration tests.\n│    ├── performance         Performance tests.\n│    └── regression          Regression tests.\n├── tutorials                Tutorials, written in markdown.\n├── Changelog.md             Changelog.\n└── CMakeLists.txt           CMake build script.\n```\n# Contributing\n\nPlease see the\n[contributing guide](https://gazebosim.org/docs/all/contributing).\n\n# Code of Conduct\n\nPlease see\n[CODE_OF_CONDUCT.md](https://github.com/gazebosim/gz-sim/blob/main/CODE_OF_CONDUCT.md).\n\n# Versioning\n\nThis library uses [Semantic Versioning](https://semver.org/). Additionally, this library is part of the [Gazebo project](https://gazebosim.org) which periodically releases a versioned set of compatible and complimentary libraries. See the [Gazebo website](https://gazebosim.org) for version and release information.\n\n# License\n\nThis library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://github.com/gazebosim/gz-math/blob/main/LICENSE) file.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgazebosim%2Fgz-math","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fgazebosim%2Fgz-math","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgazebosim%2Fgz-math/lists"}