laser_data_fisher.c File Reference

#include <math.h>
#include <egsl/egsl_macros.h>
#include "csm_all.h"

Include dependency graph for laser_data_fisher.c:

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Functions
val	ld_fisher0 (LDP ld)

---

Function Documentation

val ld_fisher0

(

LDP

ld

)

This computes the Fisher Information Matrix, in robot coordinates. Uses field 'true_alpha' (and 'theta', 'readings').

For details about the the Fisher Information Matrix, please see this paper: http://purl.org/censi/2006/accuracy

Definition at line 14 of file laser_data_fisher.c.