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[Personalrobots-commit] SF.net SVN: personalrobots: [129] pkg/trunk/gmapping
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From: <ge...@us...> - 2008-04-18 01:22:01
|
Revision: 129
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=129&view=rev
Author: gerkey
Date: 2008-04-17 18:22:06 -0700 (Thu, 17 Apr 2008)
Log Message:
-----------
fixed OSX build problems
Modified Paths:
--------------
pkg/trunk/gmapping/build_tools/Makefile.generic-shared-object
pkg/trunk/gmapping/gui/Makefile
pkg/trunk/gmapping/log/carmenconfiguration.cpp
pkg/trunk/gmapping/log/log_plot.cpp
pkg/trunk/gmapping/particlefilter/particlefilter.h
pkg/trunk/gmapping/playerwrapper/Makefile
pkg/trunk/gmapping/scanmatcher/Makefile
pkg/trunk/gmapping/scanmatcher/eig3.h
pkg/trunk/gmapping/sensor/sensor_range/rangereading.cpp
Added Paths:
-----------
pkg/trunk/gmapping/scanmatcher/eig3.cpp
Removed Paths:
-------------
pkg/trunk/gmapping/scanmatcher/eig3.c
Modified: pkg/trunk/gmapping/build_tools/Makefile.generic-shared-object
===================================================================
--- pkg/trunk/gmapping/build_tools/Makefile.generic-shared-object 2008-04-18 01:13:41 UTC (rev 128)
+++ pkg/trunk/gmapping/build_tools/Makefile.generic-shared-object 2008-04-18 01:22:06 UTC (rev 129)
@@ -32,7 +32,7 @@
$(SONAME): $(OBJS) $(COBJS)
@$(MESSAGE) "Creating library lib$(LIBNAME).so"
ifeq ($(MACOSX),1)
- @$(PRETTY) "$(CXX) $(LDFLAGS) -dynamiclib $(OBJS) $(COBJS) -L$(LIBDIR) $(LIBS) -install_name $@ -o $@"
+ @$(PRETTY) "$(CXX) $(LDFLAGS) -dynamiclib $(OBJS) $(COBJS) -L$(LIBDIR) $(LIBS) -install_name $@ -o $@"
endif
ifeq ($(LINUX),1)
@$(PRETTY) "$(CXX) $(LDFLAGS) -fPIC -shared $(OBJS) $(COBJS) -L $(LIBDIR) $(LIBS) -o $@"
Modified: pkg/trunk/gmapping/gui/Makefile
===================================================================
--- pkg/trunk/gmapping/gui/Makefile 2008-04-18 01:13:41 UTC (rev 128)
+++ pkg/trunk/gmapping/gui/Makefile 2008-04-18 01:22:06 UTC (rev 129)
@@ -3,7 +3,7 @@
OBJS= gsp_thread.o qparticleviewer.o qgraphpainter.o qmappainter.o
APPS= gfs_nogui gfs_simplegui gfs2img
-LDFLAGS+= $(QT_LIB) $(KDE_LIB) -lutils -lsensor_range -llog -lgridfastslam -lpthread -lconfigfile
+LDFLAGS+= $(QT_LIB) $(KDE_LIB) -lutils -lsensor_range -llog -lgridfastslam -lpthread -lconfigfile -lsensor_base -lscanmatcher
ifeq ($(CARMENSUPPORT),1)
LDFLAGS+= -lcarmenwrapper
Modified: pkg/trunk/gmapping/log/carmenconfiguration.cpp
===================================================================
--- pkg/trunk/gmapping/log/carmenconfiguration.cpp 2008-04-18 01:13:41 UTC (rev 128)
+++ pkg/trunk/gmapping/log/carmenconfiguration.cpp 2008-04-18 01:22:06 UTC (rev 129)
@@ -2,6 +2,7 @@
#include <iostream>
#include <sstream>
#include <assert.h>
+#include <sys/types.h>
#include <sensor_odometry/odometrysensor.h>
#include <sensor_range/rangesensor.h>
Modified: pkg/trunk/gmapping/log/log_plot.cpp
===================================================================
--- pkg/trunk/gmapping/log/log_plot.cpp 2008-04-18 01:13:41 UTC (rev 128)
+++ pkg/trunk/gmapping/log/log_plot.cpp 2008-04-18 01:22:06 UTC (rev 129)
@@ -1,5 +1,6 @@
#include <fstream>
#include <iostream>
+#include <sys/types.h>
#include <log/carmenconfiguration.h>
#include <log/sensorlog.h>
Modified: pkg/trunk/gmapping/particlefilter/particlefilter.h
===================================================================
--- pkg/trunk/gmapping/particlefilter/particlefilter.h 2008-04-18 01:13:41 UTC (rev 128)
+++ pkg/trunk/gmapping/particlefilter/particlefilter.h 2008-04-18 01:22:06 UTC (rev 129)
@@ -1,6 +1,7 @@
#ifndef PARTICLEFILTER_H
#define PARTICLEFILTER_H
#include <stdlib.h>
+#include <sys/types.h>
#include<vector>
#include<utility>
#include<cmath>
Modified: pkg/trunk/gmapping/playerwrapper/Makefile
===================================================================
--- pkg/trunk/gmapping/playerwrapper/Makefile 2008-04-18 01:13:41 UTC (rev 128)
+++ pkg/trunk/gmapping/playerwrapper/Makefile 2008-04-18 01:22:06 UTC (rev 129)
@@ -1,7 +1,7 @@
OBJS= ../gui/gsp_thread.o ../gui/qparticleviewer.o ../gui/qgraphpainter.o ../gui/qmappainter.o playergfswrapper.o
APPS=
-LIBS+= `pkg-config --libs playercore playerxdr` -lsensor_range -lgridfastslam
+LIBS+= `pkg-config --libs playercore playerxdr` -lsensor_range -lgridfastslam -llog -lutils -lconfigfile -lsensor_base
CPPFLAGS+=-Wall -I../sensor `pkg-config --cflags playercore`
LDFLAGS+=$(QT_LIB)
Modified: pkg/trunk/gmapping/scanmatcher/Makefile
===================================================================
--- pkg/trunk/gmapping/scanmatcher/Makefile 2008-04-18 01:13:41 UTC (rev 128)
+++ pkg/trunk/gmapping/scanmatcher/Makefile 2008-04-18 01:22:06 UTC (rev 129)
@@ -2,7 +2,7 @@
APPS= scanmatch_test icptest
#LDFLAGS+= $(GSL_LIB) -lutils -lsensor_range -llog
-LDFLAGS+= -lutils -lsensor_range -llog
+LDFLAGS+= -lutils -lsensor_range -lsensor_base -llog
#CPPFLAGS+=-I../sensor $(GSL_INCLUDE)
CPPFLAGS+=-I../sensor
Deleted: pkg/trunk/gmapping/scanmatcher/eig3.c
===================================================================
--- pkg/trunk/gmapping/scanmatcher/eig3.c 2008-04-18 01:13:41 UTC (rev 128)
+++ pkg/trunk/gmapping/scanmatcher/eig3.c 2008-04-18 01:22:06 UTC (rev 129)
@@ -1,271 +0,0 @@
-
-/* Eigen decomposition code for symmetric 3x3 matrices, copied from the public
- domain Java Matrix library JAMA. */
-
-#include <math.h>
-
-#ifndef MAX
-#define MAX(a, b) ((a)>(b)?(a):(b))
-#endif
-
-//#define n 3
-static int n = 3;
-
-static double hypot2(double x, double y) {
- return sqrt(x*x+y*y);
-}
-
-// Symmetric Householder reduction to tridiagonal form.
-
-static void tred2(double V[n][n], double d[n], double e[n]) {
-
-// This is derived from the Algol procedures tred2 by
-// Bowdler, Martin, Reinsch, and Wilkinson, Handbook for
-// Auto. Comp., Vol.ii-Linear Algebra, and the corresponding
-// Fortran subroutine in EISPACK.
-
- int i,j,k;
- double f,g,h,hh;
- for (j = 0; j < n; j++) {
- d[j] = V[n-1][j];
- }
-
- // Householder reduction to tridiagonal form.
-
- for (i = n-1; i > 0; i--) {
-
- // Scale to avoid under/overflow.
-
- double scale = 0.0;
- double h = 0.0;
- for (k = 0; k < i; k++) {
- scale = scale + fabs(d[k]);
- }
- if (scale == 0.0) {
- e[i] = d[i-1];
- for (j = 0; j < i; j++) {
- d[j] = V[i-1][j];
- V[i][j] = 0.0;
- V[j][i] = 0.0;
- }
- } else {
-
- // Generate Householder vector.
-
- for (k = 0; k < i; k++) {
- d[k] /= scale;
- h += d[k] * d[k];
- }
- f = d[i-1];
- g = sqrt(h);
- if (f > 0) {
- g = -g;
- }
- e[i] = scale * g;
- h = h - f * g;
- d[i-1] = f - g;
- for (j = 0; j < i; j++) {
- e[j] = 0.0;
- }
-
- // Apply similarity transformation to remaining columns.
-
- for (j = 0; j < i; j++) {
- f = d[j];
- V[j][i] = f;
- g = e[j] + V[j][j] * f;
- for (k = j+1; k <= i-1; k++) {
- g += V[k][j] * d[k];
- e[k] += V[k][j] * f;
- }
- e[j] = g;
- }
- f = 0.0;
- for (j = 0; j < i; j++) {
- e[j] /= h;
- f += e[j] * d[j];
- }
- hh = f / (h + h);
- for (j = 0; j < i; j++) {
- e[j] -= hh * d[j];
- }
- for (j = 0; j < i; j++) {
- f = d[j];
- g = e[j];
- for (k = j; k <= i-1; k++) {
- V[k][j] -= (f * e[k] + g * d[k]);
- }
- d[j] = V[i-1][j];
- V[i][j] = 0.0;
- }
- }
- d[i] = h;
- }
-
- // Accumulate transformations.
-
- for (i = 0; i < n-1; i++) {
- V[n-1][i] = V[i][i];
- V[i][i] = 1.0;
- h = d[i+1];
- if (h != 0.0) {
- for (k = 0; k <= i; k++) {
- d[k] = V[k][i+1] / h;
- }
- for (j = 0; j <= i; j++) {
- g = 0.0;
- for (k = 0; k <= i; k++) {
- g += V[k][i+1] * V[k][j];
- }
- for (k = 0; k <= i; k++) {
- V[k][j] -= g * d[k];
- }
- }
- }
- for (k = 0; k <= i; k++) {
- V[k][i+1] = 0.0;
- }
- }
- for (j = 0; j < n; j++) {
- d[j] = V[n-1][j];
- V[n-1][j] = 0.0;
- }
- V[n-1][n-1] = 1.0;
- e[0] = 0.0;
-}
-
-// Symmetric tridiagonal QL algorithm.
-
-static void tql2(double V[n][n], double d[n], double e[n]) {
-
-// This is derived from the Algol procedures tql2, by
-// Bowdler, Martin, Reinsch, and Wilkinson, Handbook for
-// Auto. Comp., Vol.ii-Linear Algebra, and the corresponding
-// Fortran subroutine in EISPACK.
-
- int i,j,m,l,k;
- double g,p,r,dl1,h,f,tst1,eps;
- double c,c2,c3,el1,s,s2;
-
- for (i = 1; i < n; i++) {
- e[i-1] = e[i];
- }
- e[n-1] = 0.0;
-
- f = 0.0;
- tst1 = 0.0;
- eps = pow(2.0,-52.0);
- for (l = 0; l < n; l++) {
-
- // Find small subdiagonal element
-
- tst1 = MAX(tst1,fabs(d[l]) + fabs(e[l]));
- m = l;
- while (m < n) {
- if (fabs(e[m]) <= eps*tst1) {
- break;
- }
- m++;
- }
-
- // If m == l, d[l] is an eigenvalue,
- // otherwise, iterate.
-
- if (m > l) {
- int iter = 0;
- do {
- iter = iter + 1; // (Could check iteration count here.)
-
- // Compute implicit shift
-
- g = d[l];
- p = (d[l+1] - g) / (2.0 * e[l]);
- r = hypot2(p,1.0);
- if (p < 0) {
- r = -r;
- }
- d[l] = e[l] / (p + r);
- d[l+1] = e[l] * (p + r);
- dl1 = d[l+1];
- h = g - d[l];
- for (i = l+2; i < n; i++) {
- d[i] -= h;
- }
- f = f + h;
-
- // Implicit QL transformation.
-
- p = d[m];
- c = 1.0;
- c2 = c;
- c3 = c;
- el1 = e[l+1];
- s = 0.0;
- s2 = 0.0;
- for (i = m-1; i >= l; i--) {
- c3 = c2;
- c2 = c;
- s2 = s;
- g = c * e[i];
- h = c * p;
- r = hypot2(p,e[i]);
- e[i+1] = s * r;
- s = e[i] / r;
- c = p / r;
- p = c * d[i] - s * g;
- d[i+1] = h + s * (c * g + s * d[i]);
-
- // Accumulate transformation.
-
- for (k = 0; k < n; k++) {
- h = V[k][i+1];
- V[k][i+1] = s * V[k][i] + c * h;
- V[k][i] = c * V[k][i] - s * h;
- }
- }
- p = -s * s2 * c3 * el1 * e[l] / dl1;
- e[l] = s * p;
- d[l] = c * p;
-
- // Check for convergence.
-
- } while (fabs(e[l]) > eps*tst1);
- }
- d[l] = d[l] + f;
- e[l] = 0.0;
- }
-
- // Sort eigenvalues and corresponding vectors.
-
- for (i = 0; i < n-1; i++) {
- k = i;
- p = d[i];
- for (j = i+1; j < n; j++) {
- if (d[j] < p) {
- k = j;
- p = d[j];
- }
- }
- if (k != i) {
- d[k] = d[i];
- d[i] = p;
- for (j = 0; j < n; j++) {
- p = V[j][i];
- V[j][i] = V[j][k];
- V[j][k] = p;
- }
- }
- }
-}
-
-void eigen_decomposition(double A[n][n], double V[n][n], double d[n]) {
- int i,j;
- double e[n];
- for (i = 0; i < n; i++) {
- for (j = 0; j < n; j++) {
- V[i][j] = A[i][j];
- }
- }
- tred2(V, d, e);
- tql2(V, d, e);
-}
Copied: pkg/trunk/gmapping/scanmatcher/eig3.cpp (from rev 127, pkg/trunk/gmapping/scanmatcher/eig3.c)
===================================================================
--- pkg/trunk/gmapping/scanmatcher/eig3.cpp (rev 0)
+++ pkg/trunk/gmapping/scanmatcher/eig3.cpp 2008-04-18 01:22:06 UTC (rev 129)
@@ -0,0 +1,270 @@
+
+/* Eigen decomposition code for symmetric 3x3 matrices, copied from the public
+ domain Java Matrix library JAMA. */
+
+#include <math.h>
+
+#ifndef MAX
+#define MAX(a, b) ((a)>(b)?(a):(b))
+#endif
+
+#define n 3
+
+static double hypot2(double x, double y) {
+ return sqrt(x*x+y*y);
+}
+
+// Symmetric Householder reduction to tridiagonal form.
+
+static void tred2(double V[n][n], double d[n], double e[n]) {
+
+// This is derived from the Algol procedures tred2 by
+// Bowdler, Martin, Reinsch, and Wilkinson, Handbook for
+// Auto. Comp., Vol.ii-Linear Algebra, and the corresponding
+// Fortran subroutine in EISPACK.
+
+ int i,j,k;
+ double f,g,h,hh;
+ for (j = 0; j < n; j++) {
+ d[j] = V[n-1][j];
+ }
+
+ // Householder reduction to tridiagonal form.
+
+ for (i = n-1; i > 0; i--) {
+
+ // Scale to avoid under/overflow.
+
+ double scale = 0.0;
+ double h = 0.0;
+ for (k = 0; k < i; k++) {
+ scale = scale + fabs(d[k]);
+ }
+ if (scale == 0.0) {
+ e[i] = d[i-1];
+ for (j = 0; j < i; j++) {
+ d[j] = V[i-1][j];
+ V[i][j] = 0.0;
+ V[j][i] = 0.0;
+ }
+ } else {
+
+ // Generate Householder vector.
+
+ for (k = 0; k < i; k++) {
+ d[k] /= scale;
+ h += d[k] * d[k];
+ }
+ f = d[i-1];
+ g = sqrt(h);
+ if (f > 0) {
+ g = -g;
+ }
+ e[i] = scale * g;
+ h = h - f * g;
+ d[i-1] = f - g;
+ for (j = 0; j < i; j++) {
+ e[j] = 0.0;
+ }
+
+ // Apply similarity transformation to remaining columns.
+
+ for (j = 0; j < i; j++) {
+ f = d[j];
+ V[j][i] = f;
+ g = e[j] + V[j][j] * f;
+ for (k = j+1; k <= i-1; k++) {
+ g += V[k][j] * d[k];
+ e[k] += V[k][j] * f;
+ }
+ e[j] = g;
+ }
+ f = 0.0;
+ for (j = 0; j < i; j++) {
+ e[j] /= h;
+ f += e[j] * d[j];
+ }
+ hh = f / (h + h);
+ for (j = 0; j < i; j++) {
+ e[j] -= hh * d[j];
+ }
+ for (j = 0; j < i; j++) {
+ f = d[j];
+ g = e[j];
+ for (k = j; k <= i-1; k++) {
+ V[k][j] -= (f * e[k] + g * d[k]);
+ }
+ d[j] = V[i-1][j];
+ V[i][j] = 0.0;
+ }
+ }
+ d[i] = h;
+ }
+
+ // Accumulate transformations.
+
+ for (i = 0; i < n-1; i++) {
+ V[n-1][i] = V[i][i];
+ V[i][i] = 1.0;
+ h = d[i+1];
+ if (h != 0.0) {
+ for (k = 0; k <= i; k++) {
+ d[k] = V[k][i+1] / h;
+ }
+ for (j = 0; j <= i; j++) {
+ g = 0.0;
+ for (k = 0; k <= i; k++) {
+ g += V[k][i+1] * V[k][j];
+ }
+ for (k = 0; k <= i; k++) {
+ V[k][j] -= g * d[k];
+ }
+ }
+ }
+ for (k = 0; k <= i; k++) {
+ V[k][i+1] = 0.0;
+ }
+ }
+ for (j = 0; j < n; j++) {
+ d[j] = V[n-1][j];
+ V[n-1][j] = 0.0;
+ }
+ V[n-1][n-1] = 1.0;
+ e[0] = 0.0;
+}
+
+// Symmetric tridiagonal QL algorithm.
+
+static void tql2(double V[n][n], double d[n], double e[n]) {
+
+// This is derived from the Algol procedures tql2, by
+// Bowdler, Martin, Reinsch, and Wilkinson, Handbook for
+// Auto. Comp., Vol.ii-Linear Algebra, and the corresponding
+// Fortran subroutine in EISPACK.
+
+ int i,j,m,l,k;
+ double g,p,r,dl1,h,f,tst1,eps;
+ double c,c2,c3,el1,s,s2;
+
+ for (i = 1; i < n; i++) {
+ e[i-1] = e[i];
+ }
+ e[n-1] = 0.0;
+
+ f = 0.0;
+ tst1 = 0.0;
+ eps = pow(2.0,-52.0);
+ for (l = 0; l < n; l++) {
+
+ // Find small subdiagonal element
+
+ tst1 = MAX(tst1,fabs(d[l]) + fabs(e[l]));
+ m = l;
+ while (m < n) {
+ if (fabs(e[m]) <= eps*tst1) {
+ break;
+ }
+ m++;
+ }
+
+ // If m == l, d[l] is an eigenvalue,
+ // otherwise, iterate.
+
+ if (m > l) {
+ int iter = 0;
+ do {
+ iter = iter + 1; // (Could check iteration count here.)
+
+ // Compute implicit shift
+
+ g = d[l];
+ p = (d[l+1] - g) / (2.0 * e[l]);
+ r = hypot2(p,1.0);
+ if (p < 0) {
+ r = -r;
+ }
+ d[l] = e[l] / (p + r);
+ d[l+1] = e[l] * (p + r);
+ dl1 = d[l+1];
+ h = g - d[l];
+ for (i = l+2; i < n; i++) {
+ d[i] -= h;
+ }
+ f = f + h;
+
+ // Implicit QL transformation.
+
+ p = d[m];
+ c = 1.0;
+ c2 = c;
+ c3 = c;
+ el1 = e[l+1];
+ s = 0.0;
+ s2 = 0.0;
+ for (i = m-1; i >= l; i--) {
+ c3 = c2;
+ c2 = c;
+ s2 = s;
+ g = c * e[i];
+ h = c * p;
+ r = hypot2(p,e[i]);
+ e[i+1] = s * r;
+ s = e[i] / r;
+ c = p / r;
+ p = c * d[i] - s * g;
+ d[i+1] = h + s * (c * g + s * d[i]);
+
+ // Accumulate transformation.
+
+ for (k = 0; k < n; k++) {
+ h = V[k][i+1];
+ V[k][i+1] = s * V[k][i] + c * h;
+ V[k][i] = c * V[k][i] - s * h;
+ }
+ }
+ p = -s * s2 * c3 * el1 * e[l] / dl1;
+ e[l] = s * p;
+ d[l] = c * p;
+
+ // Check for convergence.
+
+ } while (fabs(e[l]) > eps*tst1);
+ }
+ d[l] = d[l] + f;
+ e[l] = 0.0;
+ }
+
+ // Sort eigenvalues and corresponding vectors.
+
+ for (i = 0; i < n-1; i++) {
+ k = i;
+ p = d[i];
+ for (j = i+1; j < n; j++) {
+ if (d[j] < p) {
+ k = j;
+ p = d[j];
+ }
+ }
+ if (k != i) {
+ d[k] = d[i];
+ d[i] = p;
+ for (j = 0; j < n; j++) {
+ p = V[j][i];
+ V[j][i] = V[j][k];
+ V[j][k] = p;
+ }
+ }
+ }
+}
+
+void eigen_decomposition(double A[n][n], double V[n][n], double d[n]) {
+ int i,j;
+ double e[n];
+ for (i = 0; i < n; i++) {
+ for (j = 0; j < n; j++) {
+ V[i][j] = A[i][j];
+ }
+ }
+ tred2(V, d, e);
+ tql2(V, d, e);
+}
Modified: pkg/trunk/gmapping/scanmatcher/eig3.h
===================================================================
--- pkg/trunk/gmapping/scanmatcher/eig3.h 2008-04-18 01:13:41 UTC (rev 128)
+++ pkg/trunk/gmapping/scanmatcher/eig3.h 2008-04-18 01:22:06 UTC (rev 129)
@@ -4,16 +4,8 @@
#ifndef _eig_h
-#ifdef __cplusplus
-extern "C" {
-#endif
-
/* Symmetric matrix A => eigenvectors in columns of V, corresponding
eigenvalues in d. */
void eigen_decomposition(double A[3][3], double V[3][3], double d[3]);
-#ifdef __cplusplus
-}
#endif
-
-#endif
Modified: pkg/trunk/gmapping/sensor/sensor_range/rangereading.cpp
===================================================================
--- pkg/trunk/gmapping/sensor/sensor_range/rangereading.cpp 2008-04-18 01:13:41 UTC (rev 128)
+++ pkg/trunk/gmapping/sensor/sensor_range/rangereading.cpp 2008-04-18 01:22:06 UTC (rev 129)
@@ -1,5 +1,6 @@
#include <iostream>
#include <assert.h>
+#include <sys/types.h>
#include <utils/gvalues.h>
#include "rangereading.h"
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