Defines | Functions | Variables
icp_corr_tricks.c File Reference
#include <gsl/gsl_vector.h>
#include "icp.h"
#include "../csm_all.h"
#include "fast_math.h"
Include dependency graph for icp_corr_tricks.c:

Go to the source code of this file.

Defines

#define DEBUG_SEARCH(a)   ;
#define SQUARE(a)   ((a)*(a))

Functions

void find_correspondences_tricks (struct sm_params *params)
void ld_create_jump_tables (struct laser_data *ld)
INLINE double local_distance_squared_d (const double *a, const double *b)
INLINE double mysin (double x)

Variables

int distance_counter

Define Documentation

#define DEBUG_SEARCH (   a)    ;

Definition at line 16 of file icp_corr_tricks.c.

#define SQUARE (   a)    ((a)*(a))

Definition at line 53 of file icp_corr_tricks.c.


Function Documentation

void find_correspondences_tricks ( struct sm_params params)

Smart algorithm

Search domain for j1

Current best match

and his distance

If last match was succesful, then start at that index + 1

Definition at line 56 of file icp_corr_tricks.c.

void ld_create_jump_tables ( struct laser_data ld)

Definition at line 18 of file icp_corr_tricks.c.

INLINE double local_distance_squared_d ( const double *  a,
const double *  b 
)

Definition at line 43 of file icp_corr_tricks.c.

INLINE double mysin ( double  x)

This is very close (but *less* than) to sin(x), for x in (0, PI/2). It's a 5° degree taylor expansion.

Definition at line 8 of file icp_corr_tricks.c.


Variable Documentation

Definition at line 46 of file math_utils.c.



csm
Author(s): Andrea Censi
autogenerated on Fri May 17 2019 02:28:33