MathUtilities.h File Reference
`#include <utility>`
`#include "SurgSim/Math/RigidTransform.h"`
`#include "SurgSim/Math/Vector.h"`
`#include "SurgSim/Math/Quaternion.h"`
`#include <Eigen/Geometry>`

Go to the source code of this file.

## Namespaces

| SurgSim
| SurgSim::Testing
| Eigen

## Functions

template<class T >
T | SurgSim::Testing::interpolate (const T &start, const T &end, const double &t)
| Does a linear interpolation between the start and the end dependent on t. More...
template<class T >
T | SurgSim::Testing::interpolate (const std::pair< T, T > &values, const double &t)
template<>
SurgSim::Math::Quaterniond | SurgSim::Testing::interpolate< SurgSim::Math::Quaterniond > (const SurgSim::Math::Quaterniond &start, const SurgSim::Math::Quaterniond &end, const double &t)
| Specialized template to call the correct function for Quaterniond, might be superfluous, delegates to the eigen interpolation function for Quaterniond. More...
template<>
SurgSim::Math::RigidTransform3d | SurgSim::Testing::interpolate< SurgSim::Math::RigidTransform3d > (const SurgSim::Math::RigidTransform3d &start, const SurgSim::Math::RigidTransform3d &end, const double &t)
| Specialized template to call the correct function for RigidTransform3d, might be superfluous, delegates to the eigen interpolation function for RigidTransform3d. More...
SurgSim::Math::RigidTransform3d | SurgSim::Testing::interpolatePose (const SurgSim::Math::Vector3d &startAngles, const SurgSim::Math::Vector3d &endAngles, const SurgSim::Math::Vector3d &startPosition, const SurgSim::Math::Vector3d &endPosition, const double &t)
| Does a linear interpolation on a pose, given Vector3d for angles and positions. More...
template<class T , int Dim>
::std::ostream & | Eigen::operator<< (::std::ostream &os, const Eigen::AlignedBox< T, Dim > &box)