/usr/include/SurgSim/Math/Scalar.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 | // This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_MATH_SCALAR_H
#define SURGSIM_MATH_SCALAR_H
namespace SurgSim
{
namespace Math
{
/// Clamp any values within an epsilon window to a maximum or minimum value.
/// \note max is tested first, so if the value < min + epsilon and value >
/// max - epsilon, value will be set to max.
/// \tparam T underlying type
/// \param value [in/out] the value to be clamped
/// \param min the minimum value for the clamp
/// \param max the maximum value for the clamp
/// \param epsilon definition of the epsilon window.
template <class T>
T clamp(T value, T min, T max, T epsilon);
/// define a custom template unary functor to execute the clamp operation
/// over an Eigen matrix structure. The operation clamps based on an epsilon
/// interval. For values outside the interval min to max, the clamp proceeds
/// as expected. However, values within the interval that lie within epsilon
/// of an endpoint are also clamped to th endpoint.
///
/// \tparam T the type over which the operator is defined.
template<typename T>
class clampOperator
{
public:
/// Constructor.
///
/// \param min minimum value for the clamp interval
/// \param max maximum value for the clamp interval
/// \param epsilon values within epsilon of an interval endpoint
/// are clamped to the interval regardless of if they are within the interval or not
clampOperator(const T& min, const T& max, const T& epsilon) : m_min(min), m_max(max),
m_epsilon(epsilon) {}
/// Execute the clamp operator
/// \param x the value to clamp based
/// \return the x clamped using the minimum, maximum and epsilon specified in he class constructor
const T operator()(const T& x) const;
private:
/// The minimum value of the interval
T m_min;
/// The maximum value of the interval
T m_max;
/// The closeness parameter for the clamp. Values within epsilon of an interval endpoint
/// are clamped to the interval regardless of if they are within the interval or not
T m_epsilon;
};
};
};
#include "SurgSim/Math/Scalar-inl.h"
#endif // SURGSIM_MATH_SCALAR_H
|