Native functions standard library

Aseba provides a standard library of native functions. Targets should normally¹ provide this library. If your target's firmware holds an old version of Aseba, not all functions might be available. In Aseba version 1.1, the following functions are available:

math.copy(A,B)

Copy the array in the array , element by element: .

math.fill(A,c)

Fill each element of the array by the constant : .

math.addscalar(A, B, c)

Compute where is a scalar.

math.add(A, B, C)

Compute where , and are three arrays of the same size.

math.sub(A, B, C)

Compute where , and are three arrays of the same size.

math.mul(A, B, C)

Compute where , and are three arrays of the same size. Note that this is not a dot product.

math.div(A, B, C)

Compute where , and are three arrays of the same size. An exception will be trigged if a division by zero occurs.

math.min(A, B, C)

Write the minimum of each element of and in where , and are three arrays of the same size: .

math.max(A, B, C)

Write the maximum of each element of and in where , and are three arrays of the same size: .

math.dot(r, A, B, n)

Compute the dot product between two arrays of the same size and :

math.stat(V, min, max, mean)

Compute the maximum, the mean and the minimum values of array .

math.argbounds(A, argmin, argmax)

Get the indices argmin and argmax corresponding to the minimum respectively maximum values of .

math.sort(A)

Sort array in place.

math.muldiv(A, B, C, D)

Compute multiplication-division using internal 32\,bit precision: . An exception will be trigged if a division by zero occurs.

math.atan2(A, Y, X)

Compute using the signs of and to determine the quadrant of the output, where , and are three arrays of the same size. Note that and will produce ..

math.sin(A, B)

Compute where and are two arrays of the same size.

math.cos(A, B)

Compute where and are two arrays of the same size.

math.rot2(A, B, angle)

Rotate the array by angle, write result to . Note that and must both be arrays of size 2.

math.sqrt(A, B)

Compute where and are two arrays of the same size.

math.nzseq(a, B, m)

Write to the middle index of the largest sequence of non-zero elements from , if not found or if the sequence is smaller than .

math.rand(v)

Return a random value in the range .