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Compiling & Linking

Include the following at the top of any translation unit:

   1 #include <ecl/geometry.hpp>
   2 
   3 // Angles
   4 using ecl::Angle;
   5 using ecl::wrap_angle;
   6 using ecl::degrees_to_radians;
   7 using ecl::radians_to_degrees;
   8 // Other Objects
   9 using ecl::CartesianPoint;
  10 using ecl::PascalsTriangle;
  11 // Functionals
  12 using ecl::Minimum;
  13 using ecl::Maximum;
  14 // Functions
  15 using ecl::Polynomial; 
  16 using ecl::LinearFunction;
  17 using ecl::CubicPolynomial;
  18 using ecl::QuadraticPolynomial;
  19 using ecl::TensionFunction;
  20 // Splines
  21 using ecl::SmoothLinearSpline;
  22 using ecl::CubicSpline;
  23 using ecl::TensionSpline;
  24 // Transforms
  25 using ecl::Pose2D;

If outside ros, you will also need to link to ecl_geometry.

Tutorials

• Cartesian Points - simple object representations for cartesian points.

• Angles - convenience class for abstractly storing and representing angles.

• Polynomials - working with polynomials of the n-th degree.

• Splines - representations for smooth linear, cubic and tension splines.

• Pose - 2D and 3D representations for poses (oft used in robotics).

External Components

There are quite a few useful tools also in eigen's geometry module. You can use these directly from eigen or via the ecl_linear_algebra package.

• angle-axis pairs
• quaternions
• rotation matrices
• transforms