MathTypes.h File Reference

Declaration file of the OptimizationVariable class. More...

#include <Eigen/Dense>
#include <cmath>

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Namespaces
	ocra
	Optimization-based Robot Controller namespace. a library of classes to write and solve optimization problems dedicated to the control of multi-body systems.

Macros
#define	OCRA_STATIC_ASSERT_VECTOR_OR_DYNAMIC_MATRIX(TYPE)
#define	M_PI   3.14159265358979

Typedefs
typedef double	ocra::real
typedef Eigen::DenseBase< MatrixXd >::ConstRowXpr	ocra::MatrixXdRow
typedef Eigen::Matrix< double, 6, 1 >	ocra::Vector6d
typedef Eigen::Matrix< double, 6, 6 >	ocra::Matrix6d
typedef Eigen::Matrix< double, 3, Eigen::Dynamic >	ocra::Jacobian3d
typedef Eigen::Matrix< double, 6, Eigen::Dynamic >	ocra::Jacobian6d

Functions
double	ocra::deg2rad (const double deg)
double	ocra::rad2deg (const double rad)

Detailed Description

Declaration file of the OptimizationVariable class.

Copyright (C) 2009 CEA/DRT/LIST/DTSI/SRCI

Author

Escande Adrien

Version

0.0.0

Date

09.04.01

Definition in file MathTypes.h.

Macro Definition Documentation

#define M_PI   3.14159265358979

Definition at line 43 of file MathTypes.h.

#define OCRA_STATIC_ASSERT_VECTOR_OR_DYNAMIC_MATRIX

(

TYPE

)

Value:

OCRA_STATIC_ASSERT(TYPE::IsVectorAtCompileTime || \
                   (TYPE::RowsAtCompileTime==Eigen::Dynamic && TYPE::ColsAtCompileTime==Eigen::Dynamic), \
                    TYPE_MUST_BE_A_VECTOR_OR_A_DYNAMIC_MATRIX)

Definition at line 31 of file MathTypes.h.