util.h File Reference

Basic utility functions that are independent of iSAM. More...

#include <stdlib.h>
#include <stdio.h>
#include <cmath>
#include <string>
#include <Eigen/Dense>

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Defines
#define	requireDebug(req, msg)   if (!(req)) {fputs(msg, stderr);fputs("\n\n", stderr); abort();}
#define	require(req, msg)   requireDebug(req,msg)
Functions
double	isam::tic ()
double	isam::tic (std::string id)
double	isam::toc (double t0)
double	isam::toc (std::string id)
void	isam::tictoc_print ()
double	isam::tictoc (std::string id)
Eigen::MatrixXd	isam::eye (int num)
void	isam::givens (const double a, const double b, double &c, double &s)
double	isam::standardRad (double t)
double	isam::deg_to_rad (double d)
double	isam::rad_to_deg (double r)
template<typename T >
T	isam::pinv (const T &a, double eps=std::numeric_limits< typename T::Scalar >::epsilon())
template<typename T >
T	isam::posdef_pinv (const T &a, double eps=std::numeric_limits< typename T::Scalar >::epsilon())
Variables
const double	isam::PI = 3.14159265358979323846
const double	isam::TWOPI = 2.0*PI
const double	isam::HALFPI = PI/2.0
const double	isam::NUMERICAL_ZERO = 1e-12

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Detailed Description

Basic utility functions that are independent of iSAM.

Author:

Michael Kaess

Version:

Id:

util.h 8263 2013-04-10 14:02:19Z carlevar

Copyright (C) 2009-2013 Massachusetts Institute of Technology. Michael Kaess, Hordur Johannsson, David Rosen, Nicholas Carlevaris-Bianco and John. J. Leonard

This file is part of iSAM.

iSAM is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version.

iSAM is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with iSAM. If not, see <http://www.gnu.org/licenses/>.

Definition in file util.h.