24 #ifndef ROBOTIS_MATH_ROBOTIS_MATH_BASE_H_ 25 #define ROBOTIS_MATH_ROBOTIS_MATH_BASE_H_ 33 #define PRINT_VAR(X) std::cout << #X << " : " << X << std::endl 34 #define PRINT_MAT(X) std::cout << #X << ":\n" << X << std::endl << std::endl 36 #define DEGREE2RADIAN (M_PI / 180.0) 37 #define RADIAN2DEGREE (180.0 / M_PI) 39 inline double powDI(
double a,
int b)
41 return (b == 0 ? 1 : (b > 0 ? a *
powDI(a, b - 1) : 1 /
powDI(a, -b)));
44 double sign(
double x);
int combination(int n, int r)
double powDI(double a, int b)