FancySafeBot 0.0.1
A safe robotics library
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fsb_types.h
1
2#ifndef FSB_TYPES_H
3#define FSB_TYPES_H
4
8#define FSB_TOL (4.5e-15)
9
13#define FSB_CART_SIZE (6U)
14
15namespace fsb
16{
17
21using real_t = double;
22
26struct Vec3
27{
29 real_t x;
31 real_t y;
33 real_t z;
34};
35
39struct Mat3Sym
40{
42 real_t m00;
44 real_t m11;
46 real_t m22;
48 real_t m01;
50 real_t m02;
52 real_t m12;
53};
54
58struct Mat3
59{
61 real_t m00;
63 real_t m10;
65 real_t m20;
67 real_t m01;
69 real_t m11;
71 real_t m21;
73 real_t m02;
75 real_t m12;
77 real_t m22;
78};
79
80} // namespace fsb
81
82#endif
3x3 symmetric matrix
Definition fsb_types.h:40
real_t m00
Element [0, 0] of matrix.
Definition fsb_types.h:42
real_t m11
Element [1, 1] of matrix.
Definition fsb_types.h:44
real_t m01
Element [0, 1] and [1, 0] of matrix.
Definition fsb_types.h:48
real_t m12
Element [1, 2] and [2, 1] of matrix.
Definition fsb_types.h:52
real_t m02
Element [0, 2] and [2, 0] of matrix.
Definition fsb_types.h:50
real_t m22
Element [2, 2] of matrix.
Definition fsb_types.h:46
3x3 matrix, column-major
Definition fsb_types.h:59
real_t m00
Element [0, 0] of matrix.
Definition fsb_types.h:61
real_t m01
Element [0, 1] of matrix.
Definition fsb_types.h:67
real_t m10
Element [1, 0] of matrix.
Definition fsb_types.h:63
real_t m02
Element [0, 2] of matrix.
Definition fsb_types.h:73
real_t m11
Element [1, 1] of matrix.
Definition fsb_types.h:69
real_t m22
Element [2, 2] of matrix.
Definition fsb_types.h:77
real_t m12
Element [1, 2] of matrix.
Definition fsb_types.h:75
real_t m21
Element [2, 1] of matrix.
Definition fsb_types.h:71
real_t m20
Element [2, 0] of matrix.
Definition fsb_types.h:65
3D vector
Definition fsb_types.h:27
real_t x
X component.
Definition fsb_types.h:29
real_t y
Y component.
Definition fsb_types.h:31
real_t z
Z component.
Definition fsb_types.h:33