icp_math.py File Reference

Go to the source code of this file.

Classes
class	icp_math.RigidBodyTransform
class	icp_math.Match

Namespaces
namespace	icp_math

Functions
	icp_math.make_centroid ()
	icp_math.latexify (f)

Variables
	icp_math.Point = sp.Matrix
	icp_math.Matrix = sp.Matrix
	icp_math.rbt = RigidBodyTransform()
	icp_math.pair = Match()
	icp_math.pivot = make_centroid()
	icp_math.cost = pair.cost_with(rbt, pivot)
	icp_math.dLdt_x = sp.diff(cost, rbt.translation[0])
	icp_math.dLdt_y = sp.diff(cost, rbt.translation[1])
	icp_math.dLdtheta = sp.diff(cost, rbt.theta)