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Functions | |
val | ld_fisher0 (LDP ld) |
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.