This code has been moved to the Worldforge repository.
This is the WorldForge math library. It's licensed under the GPL (see file COPYING).
The primary focus of WFMath is geometric objects. Thus, it includes several shapes (boxes, balls, lines), in addition to the basic math objects that are used to build these shapes (points, vectors, matricies).
If you intend to build this as a prerequisite for the Ember client or the Cyphesis server we strongly suggest that you use the Hammer tool to compile it. This is script provided by the Worldforge project which will download and install all of the required libraries and components used by Worldforge.
Alternatively you can use Conan to install all dependencies.
conan remote add worldforge https://artifactory.ogenvik.org/artifactory/api/conan/conan
conan install tools/conan --build missing
cmake --preset conan-release
cmake --build --preset conan-releaseOtherwise the library can most easily be built through the following commands.
mkdir build && cd build
cmake ..
make -j all installThe test suite can be built and run using the check target. For example:
make checkor
cmake --build --preset conan-release --target checkIf Doxygen is available API documentation can be generated using the dox target. For example:
make doxor
cmake --build --preset conan-release --target doxThe only library that WFMath checks for is Atlas, and it only does this for the sake of some test functions. The only dependency on Atlas is in the file atlasconv.h. This header file contains some inline functions which can be used to convert the various objects in WFMath to Atlas::Message::Object and back. This header file will be installed whether Atlas is present or not, but to use it you must of course have the Atlas headers installed.
Most of the library classes can be divided into two sorts. The first kind are basic mathematical objects, whose members are all fundamental types. The second kind are shapes, which implement the shape class interface described in doc/shape.h. There are four classes of the first kind:
- Vector<> A basic mathematical vector
- RotMatrix<> An orthogonal matrix of determinant 1, useful for describing rotations.
- Point<> A point in space. This basic class also implements the shape interface in doc/shape.h.
- Quaternion A quaternion
The shape classes are:
- AxisBox<> A box oriented parallel to the coordinate axes
- Ball<> Ball<2> is a circle, Ball<3> is a sphere, etc.
- Segment<> A line segment, defined by its endpoints
- RotBox<> Like AxisBox<>, but it can be rotated to arbitrary angles
- Polygon<> A 2 dimensional polygon contained in a (possibly) larger dimensional space
The library also contains some probability-related functions, as well as wrappers for system time and random number functions.
Anyone interested in contributing to this project shouldl ook at the file doc/CLASS_LAYOUT, which specifies which member functions all classes should have, and what order they should appear in. This only applies to significant classes, not things like ColinearVectors in error.h, which is only there to be thrown as as exception.
The documentation is at this point confined to the doc/CLASS_LAYOUT file and comments in the code. There's also a sample shape class definition in the file shape.h in the doc directory. This has comments about what member functions all shape classes are supposed to have, and what they do.
If you're interested in helping out with development you should check out these resources: