Maintainer: nate AT openrobotics DOT org

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Ubuntu Jammy
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Windows

Gazebo Math, a component of Gazebo, provides general purpose math classes and functions designed for robotic applications.

Features

Install

Usage

Folder Structure

Code of Conduct

Contributing

Versioning

License

Gazebo 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, kmeans, spherical coordinates, and filtering.
• Optional Eigen component that converts between a few Eigen and Gazebo Math types.

See the installation tutorial.

Please refer to the examples directory.

Refer to the following table for information about important directories and files in this repository.

gz-math
├── examples                 Example programs.
├── include/gz/math          Header files.
├── src                      Source files and unit tests.
│   └── graph                Source files for the graph classes.
│   └── python_pybind11      Pybind11 Python interfaces.
│   └── ruby                 SWIG Ruby interfaces.
├── 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.

Please see the contributing guide.

Please see CODE_OF_CONDUCT.md.

This library uses Semantic Versioning. Additionally, this library is part of the Gazebo project which periodically releases a versioned set of compatible and complimentary libraries. See the Gazebo website for version and release information.

This library is licensed under Apache 2.0. See also the LICENSE file.