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afsUtility.h

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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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