Math Library for Autonomous Systems
Overview
The Math Library provides mathematical tools and utilities essential for ADORe.
Features
- Angle Utilities:
- Functions for angular operations like wrapping and delta computation.
- Curvature Analysis:
- Compute curvature for trajectories or continuous paths.
- Distance Calculations:
- templated distance metrics
- Piecewise Polynomials:
- Evaluate and manage piecewise polynomials.
- Spline Interpolation:
- Generate and evaluate cubic splines.
- Eigen Integration:
- Utilities for matrix and vector operations using the Eigen library.
Included Modules
Angles
File: angles.h
- Provides utilities for angle normalization and conversion.
- Handles wrapping of angles to predefined ranges.
Curvature
File: curvature.hpp
- Computes curvature for a given trajectory.
- Useful for trajectory evaluation and planning.
Distance
File: distance.h
- Implements various distance metrics, including:
Eigen Utilities
File: eigen.h
- Utilities for working with Eigen matrices and vectors.
Piecewise Polynomial
File: PiecewisePolynomial.h
- Represents and evaluates piecewise polynomial functions.
Point Utilities
File: point.h
- Structures and utilities for geometric point.
Spline Interpolation
File: spline.h
- Provides cubic spline interpolation for generating smooth paths.
- Features include:
- Natural and clamped boundary conditions.
- Monotonicity adjustments for realistic curves.