This library contains different math utility classes for e.g. multidimensional statistics and linear algebra. The code is open-source (BSD License) and has been tested under Ubuntu 16.04 with ROS Kinetic. Please note that this project is part of ongoing research and that there will be changes in the future.

This project is divided up into the following sub-packages:

• cslibs_math:
  This package contains basic mathematical utilities.

• cslibs_math_2d:
  This package mainly contains template instantiations for 2D space.

• cslibs_math_3d:
  This package mainly contains template instantiations for 3D space.

• cslibs_math_ros:
  This package contains functionality to convert ROS data types to cslibs_math types. This involves tf, geometry_msgs and sensor_msgs.

Officially these packages support ROS Melodic and Kinetic. For the latter, see to install GCC-7 since C+17 features are required.

This library depends on the following packages of our research group:

• cslibs_time

Some examples may be found in the test subdirectories and in other packages.

Contribution guidelines for this project