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# Ignition Math : Math classes and functions for robot applications
**Maintainer:** nate AT openrobotics DOT org
[](https://github.com/ignitionrobotics/ign-math/issues)
[](https://github.com/ignitionrobotics/ign-math/pulls)
[](https://community.gazebosim.org)
[](https://www.apache.org/licenses/LICENSE-2.0)
Build | Status
-- | --
Test coverage | [](https://codecov.io/gh/ignitionrobotics/ign-math)
Ubuntu Bionic | [](https://build.osrfoundation.org/job/ignition_math-ci-master-bionic-amd64)
Homebrew | [](https://build.osrfoundation.org/job/ignition_math-ci-master-homebrew-amd64)
Windows | [](https://build.osrfoundation.org/job/ignition_math-ci-master-windows7-amd64)
Ignition Math, a component of [Ignition
Robotics](https://ignitionrobotics.org), provides general purpose math
classes and functions designed for robotic applications.
# Table of Contents
[Features](#features)
[Install](#install)
[Usage](#usage)
[Documentation](#documentation)
[Testing](#testing)
[Folder Structure](#folder-structure)
[Code of Conduct](#code-of-conduct)
[Contributing](#code-of-contributing)
[Versioning](#versioning)
[License](#license)
# Features
Ignition 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](https://en.wikipedia.org/wiki/PID_controller), kmeans, spherical coordinates, and filtering.
* Optional Eigen component that converts between a few Eigen and Ignition
Math types.
# Install
See the [installation tutorial](https://ignitionrobotics.org/api/math/6.6/install.html).
# Usage
Please refer to the [examples directory](https://github.com/ignitionrobotics/ign-math/raw/master/examples/).
# Documentation
API and tutorials can be found at [https://ignitionrobotics.org/libs/math](https://ignitionrobotics.org/libs/math).
You can also generate the documentation from a clone of this repository by following these steps.
1. You will need Doxygen. On Ubuntu Doxygen can be installed using
```
sudo apt-get install doxygen
```
2. Clone the repository
```
git clone https://github.com/ignitionrobotics/ign-math
```
3. Configure and build the documentation.
```
cd ign-math; mkdir build; cd build; cmake ../; make doc
```
4. View the documentation by running the following command from the build directory.
```
firefox doxygen/html/index.html
```
# Testing
Follow these steps to run tests and static code analysis in your clone of this repository.
1. Follow the [source install instruction](https://ignitionrobotics.org/libs/math#source-install).
2. Run tests.
```
make test
```
3. Static code checker.
```
make codecheck
```
## Ruby Tests
### Usage
The C++ classes are available in Ruby code by interface files (`.i`) used by swig to build a C++ extension module.
The interfaces and Ruby test codes are in the `src` folder. To use a C++ class in Ruby you need to:
1. Create an interface file describing the class as in Swig and Ruby reference at [The Ruby-to-C/C++ Mapping](http://www.swig.org/Doc1.3/Ruby.html#Ruby_nn11)
2. Include the interface file in `/src/ing_math.i`
3. Create the Ruby file and import the class as in Swig and Ruby reference at [C++ Classes](http://www.swig.org/Doc1.3/Ruby.html#Ruby_nn18)
### Tests
`make test` already runs all tests, including the ones made in Ruby, but you can run a Ruby test individually using
```
ctest -R Ruby_TEST.rb
```
# Folder Structure
Refer to the following table for information about important directories and files in this repository.
```
ign-math
├── examples Example programs.
├── include/ignition/math Header files.
├── src Source files and unit tests.
│ └── graph Source files for the graph classes.
├── 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
[CONTRIBUTING.md](https://github.com/ignitionrobotics/ign-gazebo/blob/master/CONTRIBUTING.md).
# Code of Conduct
Please see
[CODE_OF_CONDUCT.md](https://github.com/ignitionrobotics/ign-gazebo/blob/master/CODE_OF_CONDUCT.md).
# Versioning
This library uses [Semantic Versioning](https://semver.org/). Additionally, this library is part of the [Ignition Robotics project](https://ignitionrobotics.org) which periodically releases a versioned set of compatible and complimentary libraries. See the [Ignition Robotics website](https://ignitionrobotics.org) for version and release information.
# License
This library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://github.com/ignitionrobotics/ign-math/blob/master/LICENSE) file.
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