BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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ROS C++ Coding Style is applied

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ROBOTIS-zerom
2016-06-03 20:50:22 +09:00
parent 7403b1aaf9
commit 3e8683bbf5
3 changed files with 6 additions and 6 deletions
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4
robotis_math/include/robotis_math/robotis_linear_algebra.h
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@@ -50,7 +50,7 @@ namespace robotis_framework
Eigen::MatrixXd transitionXYZ ( double position_x, double position_y, double position_z );
Eigen::MatrixXd transformationXYZRPY ( double position_x, double position_y, double position_z , double roll , double pitch , double yaw );
Eigen::MatrixXd InverseTransformation(Eigen::MatrixXd transform);
Eigen::MatrixXd inverseTransformation(Eigen::MatrixXd transform);
Eigen::MatrixXd inertiaXYZ( double ixx, double ixy, double ixz , double iyy , double iyz, double izz );
@@ -70,7 +70,7 @@ Eigen::MatrixXd quaternion2rotation( Eigen::Quaterniond quaternion );
Eigen::MatrixXd rotation4d( double roll, double pitch, double yaw );
Eigen::MatrixXd hatto( Eigen::MatrixXd matrix3d );
Eigen::MatrixXd Rodrigues( Eigen::MatrixXd hat_matrix , double angle );
Eigen::MatrixXd rodrigues( Eigen::MatrixXd hat_matrix , double angle );
Eigen::MatrixXd rot2omega(Eigen::MatrixXd rotation );
Eigen::MatrixXd cross(Eigen::MatrixXd vector3d_a, Eigen::MatrixXd vector3d_b );
double dot(Eigen::MatrixXd vector3d_a, Eigen::MatrixXd vector3d_b );

4
robotis_math/include/robotis_math/robotis_math_base.h
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@@ -46,8 +46,8 @@ namespace robotis_framework
#define PRINT_VAR(X) std::cout << #X << " : " << X << std::endl
#define PRINT_MAT(X) std::cout << #X << ":\n" << X << std::endl << std::endl
#define deg2rad (M_PI / 180.0)
#define rad2deg (180.0 / M_PI)
#define DEGREE2RADIAN (M_PI / 180.0)
#define RADIAN2DEGREE (180.0 / M_PI)
inline double powDI(double a, int b)
{

4
robotis_math/src/robotis_linear_algebra.cpp
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@@ -75,7 +75,7 @@ Eigen::MatrixXd transformationXYZRPY ( double position_x, double position_y, dou
return _transformation;
}
Eigen::MatrixXd InverseTransformation(Eigen::MatrixXd transform)
Eigen::MatrixXd inverseTransformation(Eigen::MatrixXd transform)
{
Eigen::Vector3d vecBOA; //If T is Transform Matrix A from B, the BOA is translation component coordi. B to coordi. A
Eigen::Vector3d vec_x, vec_y, vec_z;
@@ -261,7 +261,7 @@ Eigen::MatrixXd hatto( Eigen::MatrixXd matrix3d )
return _hatto;
}
Eigen::MatrixXd Rodrigues( Eigen::MatrixXd hat_matrix , double angle )
Eigen::MatrixXd rodrigues( Eigen::MatrixXd hat_matrix , double angle )
{
Eigen::MatrixXd _E = Eigen::MatrixXd::Identity( 3 , 3 );
Eigen::MatrixXd _Rodrigues = _E + hat_matrix * sin( angle ) + hat_matrix * hat_matrix * ( 1 - cos( angle ) );