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hydronavutil Namespace Reference libOrcaNavUtil Mobile Robot Navigation Utility Functions More... Classes class   Cov2d   2d covariance matrix More... class   Cov3d   3d covariance matrix More... class   Exception   Exception thrown by hydronavutil stuff. More... class   Gaussian   A single component of a Gmm. More... class   Gmm   A Gaussian Mixture Model (GMM) representing a distribution over 2D robot poses. More... class   OdometryDifferentiator   Feed in odometry, this will tell you what change each new bit of data represents. More... class   Pose class   Velocity   Velocity of a 2D robot with no side-slip More... class   Acceleration   Acceleration of a 2D robot with no side-slip. More... Functions double  pochisq (double x, int df) double  critchi (double p, int df) double  gauss (double xx, double xy, double xt, double yy, double yt, double tt, double x, double y, double t) bool  isUncertain (const Gmm &gmm, double maxLinearVar, double maxRotationalVar, int maxComponents) void  subtractInitialOffset (double &totalOffsetX, double &totalOffsetY, double &totalOffsetTheta, double initialOffsetX, double initialOffsetY, double initialOffsetTheta) void  subtractInitialOffset (double totalOffsetX, double totalOffsetY, double totalOffsetTheta, double initialOffsetX, double initialOffsetY, double initialOffsetTheta, double &resultX, double &resultY, double &resultTheta) void  normaliseAngle (double &angle)   normalise to [-pi,pi). void  addPoseOffset (double &poseX, double &poseY, double &poseT, double offsetX, double offsetY, double offsetT, bool normaliseHeading) void  addPoseOffset (double startX, double startY, double startT, double offsetX, double offsetY, double offsetT, double &resultX, double &resultY, double &resultT, bool normaliseHeading) void  subtractFinalPoseOffset (double startX, double startY, double startT, double offsetX, double offsetY, double offsetT, double &resultX, double &resultY, double &resultT, bool normaliseHeading) void  subtractFinalPoseOffset (double &poseX, double &poseY, double &poseT, double offsetX, double offsetY, double offsetT, bool normaliseHeading) void  transformPoint2d (double xIn, double yIn, double offsetX, double offsetY, double offsetT, double &xOut, double &yOut) void  transformPoint2d (double &x, double &y, double offsetX, double offsetY, double offsetT) void  addPoseOffset (double *pose, const double *offset, bool normaliseHeading)   Convenience function for 'double*'s. void  addPoseOffset (const double *start, const double *offset, double *result, bool normaliseHeading)   Convenience function for 'double*'s. void  subtractFinalPoseOffset (double *pose, const double *offset, bool normaliseHeading)   Convenience function for 'double*'s. void  subtractFinalPoseOffset (const double *start, const double *offset, double *result, bool normaliseHeading)   Convenience function for 'double*'s. void  normaliseHeading (Pose &pose)   convenience void  addPoseOffset (Pose &pose, const Pose &offset, bool normaliseHeading)   convenience void  addPoseOffset (const Pose &start, const Pose &offset, Pose &result, bool normaliseHeading)   convenience void  subtractFinalPoseOffset (Pose &pose, const Pose &offset, bool normaliseHeading)   convenience void  subtractFinalPoseOffset (const Pose &start, const Pose &offset, Pose &result, bool normaliseHeading)   convenience void  subtractInitialOffset (Pose &pose, const Pose &initialOffset)   convenience void  subtractInitialOffset (const Pose &pose, const Pose &initialOffset, Pose &result)   convenience Detailed Description libOrcaNavUtil Mobile Robot Navigation Utility Functions This file contains functions relating to the chi-square distribution. The functions in this file were adapted from Javascript functions found at http://www.fourmilab.ch/rpkp/experiments/analysis/chiCalc.html They were adapted by John Walker from C implementations written by Gary Perlman of Wang Institute, Tyngsboro, MA 01879. Both the original C code and the JavaScript edition are in the public domain. Author: Ian Mahon Date: 20-05-05 Function Documentation void hydronavutil::addPoseOffset (  double  startX, double  startY, double  startT, double  offsetX, double  offsetY, double  offsetT, double &  resultX, double &  resultY, double &  resultT, bool  normaliseHeading )  [inline]   Adds an offset (in local coordinates) onto a pose, producing a result Adds the linear bit, then applies the rotation. void hydronavutil::addPoseOffset (  double &  poseX, double &  poseY, double &  poseT, double  offsetX, double  offsetY, double  offsetT, bool  normaliseHeading )  [inline]   Adds an offset (in local coordinates) onto a pose, modifying the pose. Adds the linear bit, then applies the rotation. double hydronavutil::critchi (  double  p, int  df )    Calculate the critical chi-square value for a given probability. Parameters: p  The probability of the area in the chi-square distribution to the right of the critical value. df  The degrees of freedom of the chi-square distribution. Returns: The critical value. double hydronavutil::gauss (  double  xx, double  xy, double  xt, double  yy, double  yt, double  tt, double  x, double  y, double  t )  [inline]   Calculates the height of a gaussian with this covariance matrix, centred on (0,0,0), evaluated at the point (x,y,t) bool hydronavutil::isUncertain (  const Gmm &  gmm, double  maxLinearVar = 5.0, double  maxRotationalVar = (M_PI/2.0), int  maxComponents = 2 )    Checks whether the Gmm is uncertain, based on dodgy heuristics. The linear and rotational variances refer to the diagonal elements of the most likely component. double hydronavutil::pochisq (  double  x, int  df )    Calculate the probability of a chi-square value. Parameters: x  The chi-square value. df  The degrees of freedom of the chi-square distribution. Returns: The probability of the chi-square value. Adapted from: Hill, I. D. and Pike, M. C. Algorithm 299 Collected Algorithms for the CACM 1967 p. 243 Updated for rounding errors based on remark in ACM TOMS June 1985, page 185 void hydronavutil::subtractFinalPoseOffset (  double &  poseX, double &  poseY, double &  poseT, double  offsetX, double  offsetY, double  offsetT, bool  normaliseHeading )  [inline]   Opposite of addPoseOffset. Subtracts an offset from the end. void hydronavutil::subtractFinalPoseOffset (  double  startX, double  startY, double  startT, double  offsetX, double  offsetY, double  offsetT, double &  resultX, double &  resultY, double &  resultT, bool  normaliseHeading )  [inline]   Opposite of addPoseOffset. Subtracts an offset from the end. void hydronavutil::subtractInitialOffset (  double  totalOffsetX, double  totalOffsetY, double  totalOffsetTheta, double  initialOffsetX, double  initialOffsetY, double  initialOffsetTheta, double &  resultX, double &  resultY, double &  resultTheta )    We have some path, defined by an offset. This removes a chunk of it from the front. void hydronavutil::subtractInitialOffset (  double &  totalOffsetX, double &  totalOffsetY, double &  totalOffsetTheta, double  initialOffsetX, double  initialOffsetY, double  initialOffsetTheta )    We have some path, defined by an offset. This removes a chunk of it from the front. void hydronavutil::transformPoint2d (  double &  x, double &  y, double  offsetX, double  offsetY, double  offsetT )  [inline]   Transforms a point (x,y) in one coordinate system to a point (x,y) in another coordinate system using the offset between the two coordinate systems (translation: offsetX/Y, rotation:offsetT) void hydronavutil::transformPoint2d (  double  xIn, double  yIn, double  offsetX, double  offsetY, double  offsetT, double &  xOut, double &  yOut )  [inline]   Transforms a point (xIn,yIn) in one coordinate system to a point (xOut,yOut) in another coordinate system using the offset between the two coordinate systems (translation: offsetX/Y, rotation:offsetT)

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