The Orthonormalization Library Documentation
IntroductionThis is a software accompanying the paper:
by
submitted to the IEEE Transactions on Robotics. CompilationFirst, generate the makefiles
And now we compile
The default compilation uses single precision. You can change the precision directly at the cmake command line:
Finally, to generate this documentation type
The html documentation can be browsed from doc/html/index.html UseTo obtain the plots in the paper (Figs. 4 and 5) execute the following steps:
The command line options for the testON application are:
When using Gaussian distribution (option -g in the command line) _uniform is replaced by _gaussian in the output file names. For double precision the file names and the Matlab variables end in _double instead of _float. Alternatively, you can use the csv files also stored in the results folder. The Matlab folder includes a Matlab implementation of the methods described in the paper. LicenseThe software has been developed by the KRD group at IRI and is licensed under GPLv3 License. DisclaimerThis software is distributed in the hope that it will be useful, but without any warranty. it is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the KRD group does not assume the cost of any necessary servicing, repair or correction. In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages. |
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