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https://github.com/gazebosim/gz-math

General purpose math library for robot applications.
https://github.com/gazebosim/gz-math

cpp eigen gazebo gazebosim hacktoberfest ignition-math ignition-robotics linear-algebra math robotics robotics-simulation

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General purpose math library for robot applications.

Host: GitHub
URL: https://github.com/gazebosim/gz-math
Owner: gazebosim
License: apache-2.0
Created: 2020-04-15T09:17:58.000Z (over 4 years ago)
Default Branch: gz-math7
Last Pushed: 2024-05-22T21:47:21.000Z (7 months ago)
Last Synced: 2024-05-22T22:42:42.985Z (7 months ago)
Topics: cpp, eigen, gazebo, gazebosim, hacktoberfest, ignition-math, ignition-robotics, linear-algebra, math, robotics, robotics-simulation
Language: C++
Homepage: https://gazebosim.org/libs/math
Size: 10.9 MB
Stars: 51
Watchers: 7
Forks: 61
Open Issues: 67
Metadata Files:
- Readme: README.md
- Changelog: Changelog.md
- Contributing: CONTRIBUTING.md
- License: LICENSE
- Codeowners: .github/CODEOWNERS
- Authors: AUTHORS

Awesome Lists containing this project

README

        # Gazebo Math : Math classes and functions for robot applications

**Maintainer:** scpeters AT openrobotics DOT org

[![GitHub open issues](https://img.shields.io/github/issues-raw/gazebosim/gz-math.svg)](https://github.com/gazebosim/gz-math/issues)

[![GitHub open pull requests](https://img.shields.io/github/issues-pr-raw/gazebosim/gz-math.svg)](https://github.com/gazebosim/gz-math/pulls)

[![Discourse topics](https://img.shields.io/discourse/https/community.gazebosim.org/topics.svg)](https://community.gazebosim.org)

[![Hex.pm](https://img.shields.io/hexpm/l/plug.svg)](https://www.apache.org/licenses/LICENSE-2.0)

Build | Status

-- | --

Test 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)

Ubuntu 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)

Homebrew      | [![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)

Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_math-7-win)](https://build.osrfoundation.org/job/gz_math-7-win)

Gazebo Math, a component of [Gazebo](https://gazebosim.org), provides general purpose math

classes and functions designed for robotic applications.

# Table of Contents

[Features](#features)

[Install](#install)

[Usage](#usage)

[Folder Structure](#folder-structure)

[Code of Conduct](#code-of-conduct)

[Contributing](#code-of-contributing)

[Versioning](#versioning)

[License](#license)

# Features

Gazebo 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](https://en.wikipedia.org/wiki/PID_controller), kmeans, spherical coordinates, and filtering.

* Optional Eigen component that converts between a few Eigen and Gazebo

Math types.

# Install

See the [installation tutorial](https://gazebosim.org/api/math/7/install.html).

# Usage

Please refer to the [examples directory](https://github.com/gazebosim/gz-math/raw/gz-math7/examples/).

# Folder Structure

Refer to the following table for information about important directories and files in this repository.

```

gz-math

├── examples                 Example programs.

├── include/gz/math          Header files.

├── src                      Source files and unit tests.

│   └── graph                Source files for the graph classes.

│   └── python_pybind11      Pybind11 Python interfaces.

│   └── ruby                 SWIG Ruby interfaces.

├── 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 the

[contributing guide](https://gazebosim.org/docs/all/contributing).

# Code of Conduct

Please see

[CODE_OF_CONDUCT.md](https://github.com/gazebosim/gz-sim/blob/main/CODE_OF_CONDUCT.md).

# Versioning

This 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.

# License

This 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.