#include <math.h>
#include <stdlib.h>
#include <string.h>
#include "csm_all.h"

Include dependency graph for laser_data.c:

Functions
double *	alloc_double_array (int n, double def)

int *	alloc_int_array (int n, int def)

void	ld_alloc (LDP ld, int nrays)

LDP	ld_alloc_new (int nrays)

void	ld_compute_cartesian (LDP ld)

void	ld_compute_world_coords (LDP ld, const double *pose)

unsigned int	ld_corr_hash (LDP ld)

void	ld_dealloc (struct laser_data *ld)

void	ld_free (LDP ld)

int	ld_num_valid_correspondences (LDP ld)

int	ld_valid_fields (LDP ld)

Function Documentation

Definition at line 18 of file laser_data.c.

Definition at line 26 of file laser_data.c.

This allocs the fields in the given structure. Use ld_alloc_new(), not this.

Definition at line 34 of file laser_data.c.

LDP ld_alloc_new ( int nrays )

This returns a new structure, with all fields initialized

Definition at line 12 of file laser_data.c.

void ld_compute_cartesian ( LDP )

Fills the x,y fields in "points" by transforming (theta, reading) to cartesian

Definition at line 118 of file laser_data.c.

Computes the "points_w" coordinates by roto-translating "points"

Definition at line 133 of file laser_data.c.

unsigned int ld_corr_hash ( LDP ld )

Computes an hash of the correspondences

Definition at line 267 of file laser_data.c.

void ld_dealloc ( struct laser_data * ld )

Definition at line 92 of file laser_data.c.

void ld_free ( LDP )

This DOES free() the pointer

Definition at line 87 of file laser_data.c.

int ld_num_valid_correspondences ( LDP )

Returns the number of valid correspondences.

Definition at line 168 of file laser_data.c.

int ld_valid_fields ( LDP )

Do an extensive sanity check about the data contained in the structure.

Definition at line 179 of file laser_data.c.

Functions