<<PackageHeader(ecl_geometry)>>
<<TOC(4)>>


== Compiling & Linking ==

Include the following at the top of any translation unit:

{{{
#!cplusplus
#include <ecl/geometry.hpp>

// Angles
using ecl::Angle;
using ecl::wrap_angle;
using ecl::degrees_to_radians;
using ecl::radians_to_degrees;
// Other Objects
using ecl::CartesianPoint;
using ecl::PascalsTriangle;
// Functionals
using ecl::Minimum;
using ecl::Maximum;
// Functions
using ecl::Polynomial; 
using ecl::LinearFunction;
using ecl::CubicPolynomial;
using ecl::QuadraticPolynomial;
using ecl::TensionFunction;
// Splines
using ecl::SmoothLinearSpline;
using ecl::CubicSpline;
using ecl::TensionSpline;
// Transforms
using ecl::Pose2D;
}}}

If outside ros, you will also need to link to ''ecl_geometry''.

== Tutorials ==

 * [[ecl_geometry/Tutorials/Cartesian Points|Cartesian Points]] - simple object representations for cartesian points.
 * [[ecl_geometry/Tutorials/Angles|Angles]] - convenience class for abstractly storing and representing angles.
 * [[ecl_geometry/Tutorials/Polynomials|Polynomials]] - working with polynomials of the n-th degree.
 * [[ecl_geometry/Tutorials/Splines|Splines]] - representations for smooth linear, cubic and tension splines.
 * [[ecl_geometry/Tutorials/Pose|Pose]] - 2D and 3D representations for poses (oft used in robotics).

== External Components ==

There are quite a few useful tools also in eigen's geometry module. You can use these directly from eigen or via the [[ecl_linear_algebra]] package.

 * angle-axis pairs
 * quaternions
 * rotation matrices
 * transforms


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