robotis_math_base.h
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2 * Copyright 2018 ROBOTIS CO., LTD.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
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13 * See the License for the specific language governing permissions and
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15 *******************************************************************************/
16 
17 /*
18  * robotis_math_base.h
19  *
20  * Created on: June 7, 2016
21  * Author: SCH
22  */
23 
24 #ifndef ROBOTIS_MATH_ROBOTIS_MATH_BASE_H_
25 #define ROBOTIS_MATH_ROBOTIS_MATH_BASE_H_
26 
27 #include <iostream>
28 #include <cmath>
29 
30 namespace robotis_framework
31 {
32 
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
35 
36 #define DEGREE2RADIAN (M_PI / 180.0)
37 #define RADIAN2DEGREE (180.0 / M_PI)
38 
39 inline double powDI(double a, int b)
40 {
41  return (b == 0 ? 1 : (b > 0 ? a * powDI(a, b - 1) : 1 / powDI(a, -b)));
42 }
43 
44 double sign(double x);
45 
46 int combination(int n, int r);
47 
48 typedef struct
49 {
50  double x, y;
51 } Point2D;
52 
53 }
54 
55 
56 
57 #endif /* ROBOTIS_MATH_ROBOTIS_MATH_BASE_H_ */
double sign(double x)
int combination(int n, int r)
double powDI(double a, int b)


robotis_math
Author(s): SCH , Kayman , Jay Song
autogenerated on Fri Mar 23 2018 02:17:46