Posts
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Tangent Vectors Are Just Directional Derivatives
If you’ve written any robotics code, you’ve hit this before. You have an orientation, you have a small correction you’d like to apply, and you reach for the obvious move “add them”, and everything ...
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Conversion of ROS 1 Bags to MCAP Files (ROS 2 Default Bag Format)
I would like to share the workflow that I am currently using to convert existing ROS 1 bag files to ROS 2 bag-compatible MCAP files. Since the community is actively working on standardizing these p...
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Notes on Multivariate Gaussians
Prerequisites Linearity of Expectation Linearity of expectation is the property that the expected value of the sum of random variables is equal to the sum of their individual expected values, r...
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Understanding the Principle of Locality
Writing high-performance programs requires developers to understand a concept called locality, which enables programs to access data items that are in close proximity to recently accessed items. Th...
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Rvalue References
In my last blog post “Lvalues and Rvalues in C++”, we discussed about the concepts behind the lvalues and rvalues in C++. If you haven’t read the previous one yet, I strongly recommend you to read ...
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Lvalues and Rvalues
In this blog post, we will try to understand the meaning behind the C++ concepts: lvalues and rvalues. We, C++ Developers, use to write a lot of C++ codes and are already familiar with and encounte...