JointPathEx.cpp File Reference

#include "JointPathEx.h"
#include <iostream>
#include <iomanip>
#include <limits.h>
#include <float.h>
#include <hrpUtil/MatrixSolvers.h>

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Defines
#define	DEBUG   false
#define	deg2rad(x)   ((x)*M_PI/180)
#define	eps_eq(a, b, c)   (fabs((a)-(b)) <= c)
#define	rad2deg(rad)   (rad * 180 / M_PI)
Functions
hrp::Vector3	matrix_logEx (const hrp::Matrix33 &m)
Vector3	omegaFromRotEx (const Matrix33 &r)
std::ostream &	operator<< (std::ostream &out, hrp::dmatrix &a)
std::ostream &	operator<< (std::ostream &out, hrp::dvector &a)

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Define Documentation

#define DEBUG   false

Definition at line 35 of file JointPathEx.cpp.

#define deg2rad

(

x

)

((x)*M_PI/180)

Definition at line 8 of file JointPathEx.cpp.

#define eps_eq	(		a,
			b,
			c
	)		(fabs((a)-(b)) <= c)

Definition at line 10 of file JointPathEx.cpp.

#define rad2deg

(

rad

)

(rad * 180 / M_PI)

Definition at line 9 of file JointPathEx.cpp.

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Function Documentation

hrp::Vector3 matrix_logEx

(

const hrp::Matrix33 &

m

)

Definition at line 429 of file JointPathEx.cpp.

Vector3 omegaFromRotEx

(

const Matrix33 &

r

)

Definition at line 65 of file JointPathEx.cpp.

std::ostream& operator<<	(	std::ostream &	out,
		hrp::dmatrix &	a
	)

Definition at line 12 of file JointPathEx.cpp.

std::ostream& operator<<	(	std::ostream &	out,
		hrp::dvector &	a
	)

Definition at line 25 of file JointPathEx.cpp.