icp_math Namespace Reference

Classes
class	Match
class	RigidBodyTransform

Functions
	make_centroid ()
	latexify (f)

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

Function Documentation

latexify()

icp_math.latexify

(

f

)

Definition at line 30 of file icp_math.py.

make_centroid()

icp_math.make_centroid

(

)

Definition at line 26 of file icp_math.py.

Variable Documentation

cost

icp_math.cost = pair.cost_with(rbt, pivot)

Definition at line 48 of file icp_math.py.

dLdt_x

icp_math.dLdt_x = sp.diff(cost, rbt.translation[0])

Definition at line 55 of file icp_math.py.

dLdt_y

icp_math.dLdt_y = sp.diff(cost, rbt.translation[1])

Definition at line 66 of file icp_math.py.

dLdtheta

icp_math.dLdtheta = sp.diff(cost, rbt.theta)

Definition at line 77 of file icp_math.py.

Matrix

icp_math.Matrix = sp.Matrix

Definition at line 4 of file icp_math.py.

pair

icp_math.pair = Match()

Definition at line 45 of file icp_math.py.

pivot

icp_math.pivot = make_centroid()

Definition at line 46 of file icp_math.py.

Point

icp_math.Point = sp.Matrix

Definition at line 3 of file icp_math.py.

rbt

icp_math.rbt = RigidBodyTransform()

Definition at line 44 of file icp_math.py.