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/*
* Player - One Hell of a Robot Server
* Copyright (C) 2000 Brian Gerkey & Kasper Stoy
* gerkey@usc.edu kaspers@robotics.usc.edu
*
* This library 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.
*
* This library 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 this library; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
/**************************************************************************
* Desc: Vector functions
* Author: Andrew Howard
* Date: 10 Dec 2002
* CVS: $Id: pf_vector.h 6345 2008-04-17 01:36:39Z gerkey $
*************************************************************************/
#ifndef NAV2_AMCL__PF__PF_VECTOR_HPP_
#define NAV2_AMCL__PF__PF_VECTOR_HPP_
#ifdef __cplusplus
extern "C" {
#endif
#include <stdio.h>
// The basic vector
typedef struct
{
double v[3];
} pf_vector_t;
// The basic matrix
typedef struct
{
double m[3][3];
} pf_matrix_t;
// Return a zero vector
pf_vector_t pf_vector_zero(void);
// Check for NAN or INF in any component
// int pf_vector_finite(pf_vector_t a);
// Print a vector
// void pf_vector_fprintf(pf_vector_t s, FILE * file, const char * fmt);
// Simple vector addition
// pf_vector_t pf_vector_add(pf_vector_t a, pf_vector_t b);
// Simple vector subtraction
pf_vector_t pf_vector_sub(pf_vector_t a, pf_vector_t b);
// Transform from local to global coords (a + b)
pf_vector_t pf_vector_coord_add(pf_vector_t a, pf_vector_t b);
// Transform from global to local coords (a - b)
// pf_vector_t pf_vector_coord_sub(pf_vector_t a, pf_vector_t b);
// Return a zero matrix
pf_matrix_t pf_matrix_zero(void);
// Check for NAN or INF in any component
// int pf_matrix_finite(pf_matrix_t a);
// Print a matrix
// void pf_matrix_fprintf(pf_matrix_t s, FILE * file, const char * fmt);
// Compute the matrix inverse. Will also return the determinant,
// which should be checked for underflow (indicated singular matrix).
// pf_matrix_t pf_matrix_inverse(pf_matrix_t a, double *det);
// Decompose a covariance matrix [a] into a rotation matrix [r] and a
// diagonal matrix [d] such that a = r * d * r^T.
void pf_matrix_unitary(pf_matrix_t * r, pf_matrix_t * d, pf_matrix_t a);
#ifdef __cplusplus
}
#endif
#endif // NAV2_AMCL__PF__PF_VECTOR_HPP_