math_utils.h File Reference

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Defines
#define	NAN   GSL_NAN
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])

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Define Documentation

#define NAN   GSL_NAN

Definition at line 11 of file math_utils.h.

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Function Documentation

double angleDiff	(	double	a,
		double	b
	)

Returns an angle difference in the [-pi, pi] range

int any_nan	(	const double *	d,
		int	n
	)

Returns true if any value in d is NAN

void copy_d	(	const double *	from,
		int	n,
		double *	to
	)

Copies n doubles from from to to

int count_equal	(	const int *	v,
		int	n,
		int	value
	)

Count numbers of items in array v equal to value

double deg2rad

(

double

deg

)

Degrees to radians

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

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

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

)

A function to print poses and covariances in a friendly way

int is_nan

(

double

v

)

Returns true v is NAN

double max_in_array	(	const double *	v,
		int	n
	)

Maximum value in the array

int minmax	(	int	from,
		int	to,
		int	x
	)

double norm_d

(

const double

p[2]

)

Returns norm of 2D point p

double normalize_0_2PI

(

double

angle

)

Normalizes an angle in the 0-2PI range

void ominus_d	(	const double	x[3],
		double	res[3]
	)

These are the operators defined in Smith & Cheeseman

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
	)

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

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

double rad2deg

(

double

rad

)

Radians to degrees

double segment_alpha	(	const double	p0[2],
		const double	p1[2]
	)

Returns the orientation of the normal for the line passing through p0-p1

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]
	)