Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * pf_pdf.h: Useful pdf functions 00004 * 00005 * Created: Thu May 24 18:40:53 2012 00006 * Copyright 2000 Brian Gerkey 00007 * 2000 Kasper Stoy 00008 * 2012 Tim Niemueller [www.niemueller.de] 00009 ****************************************************************************/ 00010 00011 /* This program is free software; you can redistribute it and/or modify 00012 * it under the terms of the GNU General Public License as published by 00013 * the Free Software Foundation; either version 2 of the License, or 00014 * (at your option) any later version. 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL file in the doc directory. 00022 */ 00023 00024 /* From: 00025 * Player - One Hell of a Robot Server (LGPL) 00026 * Copyright (C) 2000 Brian Gerkey & Kasper Stoy 00027 * gerkey@usc.edu kaspers@robotics.usc.edu 00028 */ 00029 /************************************************************************** 00030 * Desc: Useful pdf functions 00031 * Author: Andrew Howard 00032 * Date: 10 Dec 2002 00033 *************************************************************************/ 00034 00035 #ifndef PF_PDF_H 00036 #define PF_PDF_H 00037 00038 #include "pf_vector.h" 00039 00040 //#include <gsl/gsl_rng.h> 00041 //#include <gsl/gsl_randist.h> 00042 00043 #ifdef __cplusplus 00044 extern "C" { 00045 #endif 00046 00047 /// @cond EXTERNAL 00048 00049 /************************************************************************** 00050 * Gaussian 00051 *************************************************************************/ 00052 00053 // Gaussian PDF info 00054 typedef struct 00055 { 00056 // Mean, covariance and inverse covariance 00057 pf_vector_t x; 00058 pf_matrix_t cx; 00059 //pf_matrix_t cxi; 00060 double cxdet; 00061 00062 // Decomposed covariance matrix (rotation * diagonal) 00063 pf_matrix_t cr; 00064 pf_vector_t cd; 00065 00066 // A random number generator 00067 //gsl_rng *rng; 00068 00069 } pf_pdf_gaussian_t; 00070 00071 00072 // Create a gaussian pdf 00073 pf_pdf_gaussian_t *pf_pdf_gaussian_alloc(pf_vector_t x, pf_matrix_t cx); 00074 00075 // Destroy the pdf 00076 void pf_pdf_gaussian_free(pf_pdf_gaussian_t *pdf); 00077 00078 // Compute the value of the pdf at some point [z]. 00079 //double pf_pdf_gaussian_value(pf_pdf_gaussian_t *pdf, pf_vector_t z); 00080 00081 // Draw randomly from a zero-mean Gaussian distribution, with standard 00082 // deviation sigma. 00083 // We use the polar form of the Box-Muller transformation, explained here: 00084 // http://www.taygeta.com/random/gaussian.html 00085 double pf_ran_gaussian(double sigma); 00086 00087 // Generate a sample from the the pdf. 00088 pf_vector_t pf_pdf_gaussian_sample(pf_pdf_gaussian_t *pdf); 00089 00090 00091 #if 0 00092 00093 /************************************************************************** 00094 * Discrete 00095 *************************************************************************/ 00096 00097 // Discrete PDF info 00098 typedef struct 00099 { 00100 // The list of discrete probs 00101 int prob_count; 00102 double *probs; 00103 00104 // A random number generator 00105 gsl_rng *rng; 00106 00107 // The discrete prob generator 00108 gsl_ran_discrete_t *ran; 00109 00110 } pf_pdf_discrete_t; 00111 00112 00113 // Create a discrete pdf 00114 pf_pdf_discrete_t *pf_pdf_discrete_alloc(int count, double *probs); 00115 00116 // Destroy the pdf 00117 void pf_pdf_discrete_free(pf_pdf_discrete_t *pdf); 00118 00119 // Compute the value of the probability of some element [i] 00120 double pf_pdf_discrete_value(pf_pdf_discrete_t *pdf, int i); 00121 00122 // Generate a sample from the the pdf. 00123 int pf_pdf_discrete_sample(pf_pdf_discrete_t *pdf); 00124 #endif 00125 00126 /// @endcond 00127 00128 #ifdef __cplusplus 00129 } 00130 #endif 00131 00132 #endif