# Math3d
A small header-only math library for vectors and matrices.
## Build Status
| Build | Status
| ------- | ------------------------------
| Ubuntu | [![ci-linux][0]][1] |
| Windows | [![ci-windows][2]][3] |
## Yet another math library
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.
## Setup
### C++ setup
Clone this package into your `third_party` dependencies:
```bash
# Replace "third_party" with your own dependencies-folder name
git clone https://github.com/wpumacay/math3d.git third_party/math3d
```
There's a `CMake` target called `math::math`. Just add the source directory in
your `CMake` workflow, and use the given target as follows:
```CMake
# Add the Math3d subdirectory
add(third_party/math3d)
# Link against the exposed math::math target
target_link_library(MY_LIBRARY PRIVATE math::math)
```
### Python setup
Use the provided `setup.py` file:
```bash
python setup.py install
```
And import the types from the `math3d` package:
```python
import math3d as m3d
```
## Usage
### C++
```c++
#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;
}
```
### Python
```python
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()))
```
---
[0]: <https://github.com/wpumacay/math3d/actions/workflows/ci-linux.yml/badge.svg> (ci-linux-badge)
[1]: <https://github.com/wpumacay/math3d/actions/workflows/ci-linux.yml> (ci-linux-status)
[2]: <https://github.com/wpumacay/math3d/actions/workflows/ci-windows.yml/badge.svg> (ci-windows-badge)
[3]: <https://github.com/wpumacay/math3d/actions/workflows/ci-windows.yml> (ci-windows-status)
[4]: <https://github.com/wpumacay/math3d/actions/workflows/ci-macos.yml/badge.svg> (ci-macos-badge)
[5]: <https://github.com/wpumacay/math3d/actions/workflows/ci-macos.yml> (ci-macos-status)
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"description": "# Math3d\n\nA small header-only math library for vectors and matrices.\n\n## Build Status\n\n| Build | Status\n| ------- | ------------------------------\n| Ubuntu | [![ci-linux][0]][1] |\n| Windows | [![ci-windows][2]][3] |\n\n## Yet another math library\n\nThis library is designed to be a potential replacement to various other great\nlibraries like `Eigen` and `glm`, but with a narrow focus on 2, 3, and 4\ndimensional vectors and matrices. These appear commonly when using spatial\nalgebra in robotics, which is the main application area this library was\ninitially developed for.\n\n## Setup\n\n### C++ setup\n\nClone this package into your `third_party` dependencies:\n\n```bash\n# Replace \"third_party\" with your own dependencies-folder name\ngit clone https://github.com/wpumacay/math3d.git third_party/math3d\n```\n\nThere's a `CMake` target called `math::math`. Just add the source directory in\nyour `CMake` workflow, and use the given target as follows:\n\n```CMake\n# Add the Math3d subdirectory\nadd(third_party/math3d)\n\n# Link against the exposed math::math target\ntarget_link_library(MY_LIBRARY PRIVATE math::math)\n```\n\n### Python setup\n\nUse the provided `setup.py` file:\n\n```bash\npython setup.py install\n```\n\nAnd import the types from the `math3d` package:\n\n```python\nimport math3d as m3d\n```\n\n## Usage\n\n### C++\n\n```c++\n\n#include <vec3_t.h>\n#include <mat3_t.h>\n\nint main()\n{\n // Create a vec3-float32 and show it on the console\n ::math::Vector3f vec = { 1.0f, 2.0f, 3.0f };\n std::cout << \"vec: \" << vec << std::endl;\n\n // Create a mat3 float32, show its entries and its inverse\n auto mat = ::math::Matrix3f( 3.0f, 9.0f, 3.0f,\n 9.0f, 0.0f, 3.0f,\n 2.0f, 3.0f, 8.0f );\n\n std::cout << \"mat:\" << std::endl;\n std::cout << mat << std::endl;\n std::cout << \"mat.inverse():\" << std::endl;\n std::cout << ::math::inverse( mat ) << std::endl;\n\n return 0;\n}\n```\n\n### Python\n\n```python\nimport numpy as np\nfrom math3d import Vector3f, Matrix3f\n\n# Create a vec3-float32 and show it on the console\nvec = Vector3f(np.array([1.0, 2.0, 3.0], dtype=np.float32))\nprint(vec)\n\n# Create a mat3 float32, show its entries and its inverse\nmat = Matrix3f(np.array([[ 3.0, 9.0, 3.0 ],\n [ 9.0, 0.0, 3.0 ],\n [ 2.0, 3.0, 8.0 ]], dtype=np.float32))\n\nprint(mat)\nprint(\"inverse(): \\n\\r{}\".format(mat.inverse()))\n```\n\n---\n\n[0]: <https://github.com/wpumacay/math3d/actions/workflows/ci-linux.yml/badge.svg> (ci-linux-badge)\n[1]: <https://github.com/wpumacay/math3d/actions/workflows/ci-linux.yml> (ci-linux-status)\n[2]: <https://github.com/wpumacay/math3d/actions/workflows/ci-windows.yml/badge.svg> (ci-windows-badge)\n[3]: <https://github.com/wpumacay/math3d/actions/workflows/ci-windows.yml> (ci-windows-status)\n[4]: <https://github.com/wpumacay/math3d/actions/workflows/ci-macos.yml/badge.svg> (ci-macos-badge)\n[5]: <https://github.com/wpumacay/math3d/actions/workflows/ci-macos.yml> (ci-macos-status)\n",
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