Program Listing for File eig3.hpp
↰ Return to documentation for file (include/nav2_amcl/pf/eig3.hpp
)
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2000 Brian Gerkey & Kasper Stoy
* gerkey@usc.edu kaspers@robotics.usc.edu
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
/* Eigen-decomposition for symmetric 3x3 real matrices.
Public domain, copied from the public domain Java library JAMA. */
#ifndef NAV2_AMCL__PF__EIG3_HPP_
#define NAV2_AMCL__PF__EIG3_HPP_
/* Symmetric matrix A => eigenvectors in columns of V, corresponding
eigenvalues in d. */
void eigen_decomposition(double A[3][3], double V[3][3], double d[3]);
#endif // NAV2_AMCL__PF__EIG3_HPP_