transformations.H

Go to the documentation of this file.

// Copyright (C) 2005 University of Louisiana at Lafayette
// Authors: Firas Bouz


#ifndef CAJUN_TRANSFORMATIONS_H
#define CAJUN_TRANSFORMATIONS_H


#include "heading_data.H"
#include "motion_data.H"
#include "nav_data.H"
#include "scan_data.H"
#include "scan_gp_data.H"


namespace cajun
{
        void multiply4By4 (double first[4][4], double second[4][4],
                           double results[4][4]);
        void multiplyMatrices (double rotMat[4][4], double coord[4],
                               double results[4]);
        void transMatrix (double thetaX, double thetaY, double thetaZ,
                          double displacement[4], double transMatrix[4][4]);
        void compute_sick_transf_matrix (double thetaX, double thetaY,
                                         double thetaZ,
                                         double displacement[4]);

        double interpolate (double t,
                            double t0, double v0, double t1, double v1);
        double interpolate_angle (double t,
                                  double t0, double v0, double t1, double v1);

        nav_data_t interpolate (double tstamp,
                                nav_data_t const &nav0,
                                nav_data_t const &nav1);
        motion_data_t interpolate (double tstamp,
                                   motion_data_t const &motion0,
                                   motion_data_t const &motion1);
        heading_data_t interpolate (double tstamp,
                                    heading_data_t const &heading0,
                                    heading_data_t const &heading1);

        void translate (scan_data_t const &sick,
                        nav_data_t const &nav,
                        motion_data_t const &motion,
                        void process (scan_gp_data_t const &points));

        extern double sick_transf_mat[4][4];
};

#endif

---