eig3.h
1 /*
2  * Player - One Hell of a Robot Server
3  * Copyright (C) 2003
4  * Andrew Howard
5  * Brian Gerkey
6  *
7  * This program is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2 of the License, or
10  * (at your option) any later version.
11  *
12  * This program is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with this program; if not, write to the Free Software
19  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
20  *
21  */
22 
23 
24 /* Eigen-decomposition for symmetric 3x3 real matrices.
25  Public domain, copied from the public domain Java library JAMA. */
26 
27 #ifndef _eig_h
28 
29 /* Symmetric matrix A => eigenvectors in columns of V, corresponding
30  eigenvalues in d. */
31 void eigen_decomposition(double A[3][3], double V[3][3], double d[3]);
32 
33 #endif
#define PLAYER_WARN1(msg, a)
Error message macros.
Definition: error.h:90
static bool MatchMessage(player_msghdr_t *hdr, int type, int subtype, player_devaddr_t addr)
Helper for message processing.
Definition: message.h:159
double ReadFloat(int section, const char *name, double value)
Read a floating point (double) value.
Generic message header.
Definition: player.h:162
virtual int MainSetup(void)
Sets up the resources needed by the driver thread.
Definition: driver.h:658
virtual void MainQuit(void)
Cleanup method for driver thread (called when main exits)
Definition: driver.h:664
uint8_t type
Message type; must be one of PLAYER_MSGTYPE_*.
Definition: player.h:166
#define PLAYER_WARN3(msg, a, b, c)
Error message macros.
Definition: error.h:92
Encapsulates a device (i.e., a driver bound to an interface)
Definition: device.h:75
uint8_t subtype
Message subtype; interface specific.
Definition: player.h:168
double ReadTupleFloat(int section, const char *name, int index, double value)
Read a float (double) from a tuple field.
virtual void Main(void)=0
Main method for driver thread.
int ReadInt(int section, const char *name, int value)
Read an integer value.
#define PLAYER_MSGTYPE_DATA
A data message.
Definition: player.h:95
#define PLAYER_MSGTYPE_RESP_ACK
A positive response message.
Definition: player.h:112
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
#define PLAYER_MSGTYPE_REQ
A request message.
Definition: player.h:106
#define PLAYER_MSGTYPE_RESP_NACK
A negative response message.
Definition: player.h:125
int ReadDeviceAddr(player_devaddr_t *addr, int section, const char *name, int code, int index, const char *key)
Read a device id.
Class for loading configuration file information.
Definition: configfile.h:197
#define PLAYER_CAPABILITIES_REQ
Capability request message type.
Definition: player.h:397
A device address.
Definition: player.h:146
An autopointer for the message queue.
Definition: message.h:74
#define PLAYER_WARN6(msg, a, b, c, d, e, f)
Error message macros.
Definition: error.h:95
#define PLAYER_ERROR(msg)
Error message macros.
Definition: error.h:81
Base class for drivers which oeprate with a thread.
Definition: driver.h:553
Reference-counted message objects.
Definition: message.h:133
#define PLAYER_MSGTYPE_CMD
A command message.
Definition: player.h:99
Base class for all drivers.
Definition: driver.h:109
#define PLAYER_MSG0(level, msg)
General messages.
Definition: error.h:105
#define PLAYER_MSGQUEUE_DEFAULT_MAXLEN
Default maximum length for a message queue.
Definition: player.h:76