Basic utility functions that are independent of iSAM. More...
#include <stdlib.h>#include <stdio.h>#include <cmath>#include <string>#include <Eigen/Dense>
Go to the source code of this file.
Namespaces | |
| namespace | isam |
Defines | |
| #define | require(req, msg) requireDebug(req,msg) |
| #define | requireDebug(req, msg) if (!(req)) {fputs(msg, stderr);fputs("\n\n", stderr); abort();} |
Functions | |
| double | isam::deg_to_rad (double d) |
| Eigen::MatrixXd | isam::eye (int num) |
| void | isam::givens (const double a, const double b, double &c, double &s) |
| template<typename T > | |
| T | isam::pinv (const T &a, double eps=std::numeric_limits< typename T::Scalar >::epsilon()) |
| template<typename T > | |
| T | isam::posdef_pinv (const T &a, double eps=std::numeric_limits< typename T::Scalar >::epsilon()) |
| double | isam::rad_to_deg (double r) |
| double | isam::standardRad (double t) |
| double | isam::tic () |
| double | isam::tic (std::string id) |
| double | isam::tictoc (std::string id) |
| void | isam::tictoc_print () |
| double | isam::toc (double t0) |
| double | isam::toc (std::string id) |
Variables | |
| const double | isam::HALFPI = PI/2.0 |
| const double | isam::NUMERICAL_ZERO = 1e-12 |
| const double | isam::PI = 3.14159265358979323846 |
| const double | isam::TWOPI = 2.0*PI |
Detailed Description
Basic utility functions that are independent of iSAM.
- Version:
- Id:
- util.h 8263 2013-04-10 14:02:19Z carlevar
Copyright (C) 2009-2013 Massachusetts Institute of Technology. Michael Kaess, Hordur Johannsson, David Rosen, Nicholas Carlevaris-Bianco and John. J. Leonard
This file is part of iSAM.
iSAM is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version.
iSAM is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License along with iSAM. If not, see <http://www.gnu.org/licenses/>.
Definition in file util.h.
Define Documentation
| #define require | ( | req, | |
| msg | |||
| ) | requireDebug(req,msg) |
| #define requireDebug | ( | req, | |
| msg | |||
| ) | if (!(req)) {fputs(msg, stderr);fputs("\n\n", stderr); abort();} |