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  • Committer: Julian Ryde
  • Date: 2012-03-04 17:10:07 UTC
  • mto: (16.1.12 trunk) (29.1.2 trunk)
  • mto: This revision was merged to the branch mainline in revision 25.
  • Revision ID: julian_ryde-20120304171007-hfbttvxk2nhmqoad
Changed some functions to take pose objects rather than pose tuples.  Tidied up cost_min so it considers quantised pose steps.

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mrol_mapping/cython/fast.pyx
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@cython.boundscheck(False)
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def fillray(dtype_i numcells, np.ndarray[np.float64_t, ndim=1] dir_unit, np.float64_t res, np.ndarray[np.float64_t, ndim=2] ray):
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    cdef int i
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    for i in range(numcells):
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        ray[i] = dir_unit*i*res
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    return ray