/home/jgoppert/Projects/uvsim/uvsim/src/uvsim/utilities/utilities.h

Go to the documentation of this file.

/*
 * utilities.h
 * Copyright (C) James Goppert 2009 <jgoppert@purdue.edu>
 *
 * utilities.h is free software: you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by the
 * Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * utilities.h is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 * See the GNU General Public License for more details.
 * * You should have received a copy of the GNU General Public License along * with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef utilities_H
#define utilities_H

// boost ublas
#include <boost/numeric/ublas/triangular.hpp>
#include <boost/numeric/ublas/lu.hpp>
#include <boost/numeric/ublas/io.hpp>
#include <boost/numeric/ublas/vector.hpp>
#include <boost/numeric/ublas/vector_proxy.hpp>
#include <boost/numeric/ublas/matrix.hpp>
#include <boost/numeric/ublas/matrix_proxy.hpp>

// boost bindings
#include <boost/numeric/bindings/traits/ublas_matrix.hpp>
#include <boost/numeric/bindings/traits/ublas_vector.hpp>
#include <boost/numeric/bindings/lapack/gesvd.hpp>
#include <boost/numeric/bindings/lapack/gees.hpp>
#include <boost/numeric/bindings/lapack/workspace.hpp>

// std
#include <string>
#include <iostream>
#include <sstream>
#include <iomanip>
#include <term.h>
#include <unistd.h>
#include <cmath>
#include <limits>
#include <stdio.h>

using namespace boost::numeric::ublas;

namespace uvsim
{

// control functions
void lowPass(const double &freq, const vector<double> &freqCut,
             const vector<double> &x, vector<double> &y);
void discretize(matrix<double>& Ac, matrix<double>& Bc, matrix<double>& Ad, matrix<double>& Bd, double T, int order);

// matrix math
matrix<double> ones(int m, int n);
matrix<double> skew(vector<double> &v);
matrix<double> inv(const matrix<double>& input);
matrix<double> pinv(matrix<double> A);
bool select(double real, double imag);
matrix<double> dare(matrix<double>A, matrix<double>B,matrix<double>R,matrix<double>Q);
matrix<double> prod(matrix<double> A, matrix<double> B, matrix<double> C);
double max(vector<double> v);

//Quaternion and Vector Operations
vector<double> dotProd(vector<double> v1, vector<double> v2);
vector<double> quatProd(vector<double> q1, vector<double> q2);
vector<double> quatRotate(vector<double> q, vector<double> vec);
vector<double> crossProd(vector<double> v1, vector<double> v2);
vector<double> quatConj(vector<double> q);
vector<double> quat2Euler(vector<double> q);
vector<double> euler2Quat(vector<double> euler);
vector<double> axisAngle2Quat(vector<double> axis, double angle);
vector<double> norm(vector<double> vec);

// general
bool fileExists(const char * filename);
std::string doubleToString(double val);
std::string intToString(int val);
void cursorxy( int col, int line );
void clear( bool gohome = true );
double elapsedTime(timeval time0, timeval time);

// integration
vector<double> integrate(vector<double> i1,
                                                                vector<double> i0, vector<double> initial, double freq);
double integrate(double i1, double i0, double initial, double freq);

}


#endif

// vim:ts=4:sw=4

---