Just excerpts from ignitionrobotics.org:
Why Ignition?
Ignition is a set of simple libraries that provide useful functionality to bootstrap robot applications. The included libraries encapsulate all the essentials, such as common math data types, console logging, 3D mesh management, and asynchronous message passing. Grab the code, start developing, and easily access other applications like the Gazebo robot simulator.
Math ign-math
Version: 1.0.0
A small, fast, and high performance math library. This library is a self-contained set of classes and functions suitable for robot applications.