math_utils_gsl.h

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#ifndef H_MATH_UTILS_GSL
#define H_MATH_UTILS_GSL

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

#include "laser_data.h"

#define gvg gsl_vector_get
#define gvs gsl_vector_set


/* GSL stuff */
        const char* gsl_friendly_pose(gsl_vector*v);
        gsl_vector * vector_from_array(unsigned int n, double *x);
        void vector_to_array(const gsl_vector*v, double*);
        void copy_from_array(gsl_vector*v, double*);

        void oplus(const gsl_vector*x1,const gsl_vector*x2, gsl_vector*res);
        void ominus(const gsl_vector*x, 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);
        void gsl_vector_set_nan(gsl_vector*v);

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

        double norm(const gsl_vector*p);
        const char* egsl_friendly_pose(val pose);
        const char* egsl_friendly_cov(val cov);

val ld_fisher0(LDP ld);


#endif