A small header-only math library for vectors and matrices.
| Build | Status |
|---|---|
| Ubuntu |  |
| Windows |  |
This library is designed to be a potential replacement to various other great
libraries like Eigen and glm, but with a narrow focus on 2, 3, and 4
dimensional vectors and matrices. These appear commonly when using spatial
algebra in robotics, which is the main application area this library was
initially developed for.
Clone this package into your third_party dependencies:
# Replace "third_party" with your own dependencies-folder name
git clone https://github.com/wpumacay/math3d.git third_party/math3dThere's a CMake target called math::math. Just add the source directory in
your CMake workflow, and use the given target as follows:
# Add the Math3d subdirectory
add(third_party/math3d)
# Link against the exposed math::math target
target_link_library(MY_LIBRARY PRIVATE math::math)Use the provided setup.py file:
python setup.py installAnd import the types from the math3d package:
import math3d as m3d#include <vec3_t.h>
#include <mat3_t.h>
int main()
{
// Create a vec3-float32 and show it on the console
::math::Vector3f vec = { 1.0f, 2.0f, 3.0f };
std::cout << "vec: " << vec << std::endl;
// Create a mat3 float32, show its entries and its inverse
auto mat = ::math::Matrix3f( 3.0f, 9.0f, 3.0f,
9.0f, 0.0f, 3.0f,
2.0f, 3.0f, 8.0f );
std::cout << "mat:" << std::endl;
std::cout << mat << std::endl;
std::cout << "mat.inverse():" << std::endl;
std::cout << ::math::inverse( mat ) << std::endl;
return 0;
}import numpy as np
from math3d import Vector3f, Matrix3f
# Create a vec3-float32 and show it on the console
vec = Vector3f(np.array([1.0, 2.0, 3.0], dtype=np.float32))
print(vec)
# Create a mat3 float32, show its entries and its inverse
mat = Matrix3f(np.array([[ 3.0, 9.0, 3.0 ],
[ 9.0, 0.0, 3.0 ],
[ 2.0, 3.0, 8.0 ]], dtype=np.float32))
print(mat)
print("inverse(): \n\r{}".format(mat.inverse()))
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