Gazebo Math : Math classes and functions for robot applications
Maintainer: scpeters AT openrobotics DOT org
| Build | Status |
|---|---|
| Test coverage |  |
| Ubuntu Noble | |
| Homebrew | |
| Windows |
Gazebo Math, a component of Gazebo, provides general purpose math classes and functions designed for robotic applications.
Table of Contents
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, kmeans, spherical coordinates, and filtering.
- Optional Eigen component that converts between a few Eigen and Gazebo Math types.
Install
See the installation tutorial.
Usage
Please refer to the examples directory.
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.
Code of Conduct
Please see CODE_OF_CONDUCT.md.
Versioning
This library uses Semantic Versioning. Additionally, this library is part of the Gazebo project which periodically releases a versioned set of compatible and complimentary libraries. See the Gazebo website for version and release information.
License
This library is licensed under Apache 2.0. See also the LICENSE file.