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00001 /* 00002 * Utility routines for AIBO FastSLAM. 00003 */ 00004 00005 #ifndef _AFS_UTILITY_H_ 00006 #define _AFS_UTILITY_H_ 00007 00008 #ifdef __cplusplus 00009 extern "C" { 00010 #endif 00011 00012 /* This routine takes the difference between two angles. It assumes that 00013 * any difference greater than 180 degrees is due to rollover. Input 00014 * angles should be in the range [0, 2pi). Output angles come in the range 00015 * [-pi, pi]. */ 00016 double find_dtheta(double th1, double th2); 00017 00018 /* Generates normally-distributed random numbers with the Box-Muller 00019 * transform. See http://www.taygeta.com/random/gaussian.html */ 00020 double normRand(); 00021 00022 #ifdef __cplusplus 00023 } 00024 #endif 00025 #endif 00026
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