Defines | Functions
math_utils_gsl.h File Reference
#include <gsl/gsl_math.h>
#include <egsl/egsl.h>
#include "laser_data.h"
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Defines

#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 *)

Define 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.



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