icp.c File Reference

#include <math.h>
#include <string.h>
#include <gsl/gsl_matrix.h>
#include <gpc/gpc.h>
#include <egsl/egsl_macros.h>
#include "../csm_all.h"
#include "icp.h"

Include dependency graph for icp.c:

Go to the source code of this file.

Functions
void	ld_invalid_if_outside (LDP ld, double min_reading, double max_reading)
void	sm_icp (struct sm_params *params, struct sm_result *res)
void	sm_icp_xy (struct sm_params *params, struct sm_result *res)
void	sm_journal_open (const char *file)

Function Documentation

ld_invalid_if_outside()

void ld_invalid_if_outside	(	LDP	ld,
		double	min_reading,
		double	max_reading
	)

Marks a ray invalid if reading is outside range [min_reading, max_reading].

Definition at line 19 of file icp.c.

sm_icp()

void sm_icp	(	struct sm_params *	params,
		struct sm_result *	res
	)

This sets the stage.

Mark as invalid the rays outside of (min_reading, max_reading]

Definition at line 29 of file icp.c.

sm_icp_xy()

void sm_icp_xy	(	struct sm_params *	input,
		struct sm_result *	output
	)

The same icp method as above, but with the assumption that the laser_ref and laser_sens scans have already been populated with cartesian x,y points.

Mark as invalid the rays outside of (min_reading, max_reading]

Definition at line 198 of file icp.c.

sm_journal_open()

void sm_journal_open

(

const char *

file

)

Definition at line 14 of file icp.c.