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Functions | |
| double | angleDiff (double a, double b) |
| int | any_nan (const double *d, int n) |
| void | copy_d (const double *from, int n, double *to) |
| int | count_equal (const int *v, int n, int value) |
| double | deg2rad (double deg) |
| double | dist_to_segment_d (const double a[2], const double b[2], const double x[2]) |
| double | dist_to_segment_squared_d (const double a[2], const double b[2], const double x[2]) |
| double | distance_d (const double a[2], const double b[2]) |
| double | distance_squared_d (const double a[2], const double b[2]) |
| const char * | friendly_pose (const double *pose) |
| int | is_nan (double v) |
| double | max_in_array (const double *v, int n) |
| int | minmax (int from, int to, int x) |
| double | norm_d (const double p[2]) |
| double | normalize_0_2PI (double angle) |
| void | ominus_d (const double x[3], double res[3]) |
| void | oplus_d (const double x1[3], const double x2[3], double res[3]) |
| void | pose_diff_d (const double second[3], const double first[3], double res[3]) |
| void | projection_on_line_d (const double a[2], const double b[2], const double p[2], double res[2], double *distance) |
| void | projection_on_segment_d (const double a[2], const double b[2], const double P[2], double proj[2]) |
| double | rad2deg (double rad) |
| double | segment_alpha (const double p0[2], const double p1[2]) |
| int | segment_ray_tracing (const double p0[2], const double p1[2], const double eye[2], double direction, double *range) |
| double | square (double x) |
| void | transform_d (const double point2d[2], const double pose[3], double result2d[2]) |
Function Documentation
| double angleDiff | ( | double | a, |
| double | b | ||
| ) |
Returns an angle difference in the [-pi, pi] range
Definition at line 128 of file math_utils.c.
| int any_nan | ( | const double * | d, |
| int | n | ||
| ) |
Returns true if any value in d is NAN
Definition at line 64 of file math_utils.c.
| void copy_d | ( | const double * | from, |
| int | n, | ||
| double * | to | ||
| ) |
Copies n doubles from from to to
Definition at line 83 of file math_utils.c.
| int count_equal | ( | const int * | v, |
| int | n, | ||
| int | value | ||
| ) |
Count numbers of items in array v equal to value
Definition at line 192 of file math_utils.c.
| double deg2rad | ( | double | deg | ) |
Degrees to radians
Definition at line 75 of file math_utils.c.
| double dist_to_segment_d | ( | const double | a[2], |
| const double | b[2], | ||
| const double | x[2] | ||
| ) |
Distance of x from its projection on segment a-b
Definition at line 181 of file math_utils.c.
| double dist_to_segment_squared_d | ( | const double | a[2], |
| const double | b[2], | ||
| const double | x[2] | ||
| ) |
Same thing as dist_to_segment_d(), but squared
Definition at line 174 of file math_utils.c.
| double distance_d | ( | const double | a[2], |
| const double | b[2] | ||
| ) |
Definition at line 55 of file math_utils.c.
| double distance_squared_d | ( | const double | a[2], |
| const double | b[2] | ||
| ) |
Definition at line 48 of file math_utils.c.
| const char* friendly_pose | ( | const double * | pose | ) |
A function to print poses and covariances in a friendly way
Definition at line 266 of file math_utils.c.
| int is_nan | ( | double | v | ) |
Returns true v is NAN
Definition at line 60 of file math_utils.c.
| double max_in_array | ( | const double * | v, |
| int | n | ||
| ) |
Maximum value in the array
Definition at line 273 of file math_utils.c.
| int minmax | ( | int | from, |
| int | to, | ||
| int | x | ||
| ) |
Definition at line 6 of file math_utils.c.
| double norm_d | ( | const double | p[2] | ) |
Returns norm of 2D point p
Definition at line 71 of file math_utils.c.
| double normalize_0_2PI | ( | double | angle | ) |
Normalizes an angle in the 0-2PI range
Definition at line 198 of file math_utils.c.
| void ominus_d | ( | const double | x[3], |
| double | res[3] | ||
| ) |
These are the operators defined in Smith & Cheeseman
Definition at line 87 of file math_utils.c.
| void oplus_d | ( | const double | x1[3], |
| const double | x2[3], | ||
| double | res[3] | ||
| ) |
safe if res == x1
Definition at line 96 of file math_utils.c.
| void pose_diff_d | ( | const double | second[3], |
| const double | first[3], | ||
| double | res[3] | ||
| ) |
Definition at line 115 of file math_utils.c.
| void projection_on_line_d | ( | const double | a[2], |
| const double | b[2], | ||
| const double | p[2], | ||
| double | res[2], | ||
| double * | distance | ||
| ) |
Projects (p[0],p[1]) on the LINE passing through (ax,ay)-(bx,by). If distance!=0, distance is set to the distance from the point to the segment
Definition at line 135 of file math_utils.c.
| void projection_on_segment_d | ( | const double | a[2], |
| const double | b[2], | ||
| const double | P[2], | ||
| double | proj[2] | ||
| ) |
Projection of P on the SEGMENT A-B
Definition at line 156 of file math_utils.c.
| double rad2deg | ( | double | rad | ) |
Radians to degrees
Definition at line 79 of file math_utils.c.
| double segment_alpha | ( | const double | p0[2], |
| const double | p1[2] | ||
| ) |
Returns the orientation of the normal for the line passing through p0-p1
Definition at line 257 of file math_utils.c.
| int segment_ray_tracing | ( | const double | p0[2], |
| const double | p1[2], | ||
| const double | eye[2], | ||
| double | direction, | ||
| double * | range | ||
| ) |
Definition at line 218 of file math_utils.c.
| double square | ( | double | x | ) |
Definition at line 124 of file math_utils.c.
| void transform_d | ( | const double | point2d[2], |
| const double | pose[3], | ||
| double | result2d[2] | ||
| ) |
Definition at line 108 of file math_utils.c.