math_utils_gsl.h File Reference

#include <gsl/gsl_math.h>
#include <egsl/egsl.h>
#include "laser_data.h"

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Macros
#define	gvg   gsl_vector_get
#define	gvs   gsl_vector_set

Functions
void	copy_from_array (gsl_vector *v, double *)
double	distance (const gsl_vector *a, const gsl_vector *b)
double	distance_squared (const gsl_vector *a, const gsl_vector *b)
const char *	egsl_friendly_cov (val cov)
const char *	egsl_friendly_pose (val pose)
const char *	gsl_friendly_pose (gsl_vector *v)
void	gsl_vector_set_nan (gsl_vector *v)
val	ld_fisher0 (LDP ld)
double	norm (const gsl_vector *p)
void	ominus (const gsl_vector *x, gsl_vector *res)
void	oplus (const gsl_vector *x1, const gsl_vector *x2, gsl_vector *res)
void	pose_diff (const gsl_vector *pose2, const gsl_vector *pose1, gsl_vector *res)
void	transform (const gsl_vector *point2d, const gsl_vector *pose, gsl_vector *result2d)
gsl_vector *	vector_from_array (unsigned int n, double *x)
void	vector_to_array (const gsl_vector *v, double *)

Macro Definition Documentation

#define gvg   gsl_vector_get

Definition at line 9 of file math_utils_gsl.h.

#define gvs   gsl_vector_set

Definition at line 10 of file math_utils_gsl.h.

Function Documentation

void copy_from_array	(	gsl_vector *	v,
		double *
	)

Definition at line 30 of file math_utils_gsl.c.

double distance	(	const gsl_vector *	a,
		const gsl_vector *	b
	)

double distance_squared	(	const gsl_vector *	a,
		const gsl_vector *	b
	)

const char* egsl_friendly_cov

(

val

cov

)

Definition at line 78 of file math_utils_gsl.c.

const char* egsl_friendly_pose

(

val

pose

)

Definition at line 70 of file math_utils_gsl.c.

const char* gsl_friendly_pose

(

gsl_vector *

v

)

Definition at line 65 of file math_utils_gsl.c.

void gsl_vector_set_nan

(

gsl_vector *

v

)

Definition at line 10 of file math_utils_gsl.c.

val ld_fisher0

(

LDP

ld

)

Returns Fisher's information matrix. You still have to multiply it by (1/sigma^2).

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.

double norm

(

const gsl_vector *

p

)

Returns norm of 2D point p

Definition at line 15 of file math_utils_gsl.c.

void ominus	(	const gsl_vector *	x,
		gsl_vector *	res
	)

Definition at line 50 of file math_utils_gsl.c.

void oplus	(	const gsl_vector *	x1,
		const gsl_vector *	x2,
		gsl_vector *	res
	)

Definition at line 42 of file math_utils_gsl.c.

void pose_diff	(	const gsl_vector *	pose2,
		const gsl_vector *	pose1,
		gsl_vector *	res
	)

Definition at line 58 of file math_utils_gsl.c.

void transform	(	const gsl_vector *	point2d,
		const gsl_vector *	pose,
		gsl_vector *	result2d
	)

Definition at line 3 of file math_utils_gsl.c.

gsl_vector* vector_from_array	(	unsigned int	n,
		double *	x
	)

Definition at line 21 of file math_utils_gsl.c.

void vector_to_array	(	const gsl_vector *	v,
		double *
	)

Definition at line 36 of file math_utils_gsl.c.