laser_data_inline.h
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00001 #ifndef H_LASER_DATA_INLINE
00002 #define H_LASER_DATA_INLINE
00003 
00004 #include <gsl/gsl_math.h>
00005 #include <gsl/gsl_vector.h>
00006 
00007 #include "csm.h"
00008 
00009 /* Simple inline functions */
00010 
00011 /*#warning Seen ld_valid_ray*/
00012 
00013 INLINE int ld_valid_ray(LDP ld, int i) {
00014         return (i>=0) && (i<ld->nrays) && (ld->valid[i]);
00015 }
00016 
00017 INLINE int ld_valid_alpha(LDP ld, int i) {
00018         return ld->alpha_valid[i] != 0;
00019 }
00020 
00021 INLINE void ld_set_null_correspondence(LDP ld, int i) {
00022         ld->corr[i].valid = 0;
00023         ld->corr[i].j1 = -1;    
00024         ld->corr[i].j2 = -1;    
00025         ld->corr[i].dist2_j1 = GSL_NAN; 
00026 }
00027 
00028 INLINE void ld_set_correspondence(LDP ld, int i, int j1, int j2) {
00029         ld->corr[i].valid = 1;
00030         ld->corr[i].j1 = j1;    
00031         ld->corr[i].j2 = j2;    
00032 }
00033 
00036 INLINE int ld_next_valid(LDP ld, int i, int dir) {
00037         int j;
00038         for(j=i+dir;(j<ld->nrays)&&(j>=0)&&!ld_valid_ray(ld,j);j+=dir);
00039         return ld_valid_ray(ld,j) ? j : -1;
00040 }
00041 
00042 INLINE int ld_next_valid_up(LDP ld, int i){
00043         return ld_next_valid(ld, i, +1);
00044 }
00045 
00046 INLINE int ld_next_valid_down(LDP ld, int i){
00047         return ld_next_valid(ld, i, -1);
00048 }
00049 
00050 
00051 INLINE int ld_valid_corr(LDP ld, int i) {
00052         return ld->corr[i].valid;
00053 }
00054 
00055 #endif
00056 


csm_ros
Author(s): Gaƫl Ecorchard , Ivan Dryanovski, William Morris, Andrea Censi
autogenerated on Sat Jun 8 2019 19:52:42