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 = double;
22
26struct Vec3
27{
29 Real x = 0.0;
31 Real y = 0.0;
33 Real z = 0.0;
34};
35
39struct Mat3Sym
40{
42 Real m00 = 0.0;
44 Real m11 = 0.0;
46 Real m22 = 0.0;
48 Real m01 = 0.0;
50 Real m02 = 0.0;
52 Real m12 = 0.0;
53};
54
58struct Mat3
59{
61 Real m00 = 0.0;
63 Real m10 = 0.0;
65 Real m20 = 0.0;
67 Real m01 = 0.0;
69 Real m11 = 0.0;
71 Real m21 = 0.0;
73 Real m02 = 0.0;
75 Real m12 = 0.0;
77 Real m22 = 0.0;
78};
79
80} // namespace fsb
81
82#endif
3x3 symmetric matrix
Definition fsb_types.h:40
Real m00
Element [0, 0] of matrix.
Definition fsb_types.h:42
Real m01
Element [0, 1] and [1, 0] of matrix.
Definition fsb_types.h:48
Real m11
Element [1, 1] of matrix.
Definition fsb_types.h:44
Real m22
Element [2, 2] of matrix.
Definition fsb_types.h:46
Real m12
Element [1, 2] and [2, 1] of matrix.
Definition fsb_types.h:52
Real m02
Element [0, 2] and [2, 0] of matrix.
Definition fsb_types.h:50
3x3 matrix
Definition fsb_types.h:59
Real m02
Element [0, 2] of matrix.
Definition fsb_types.h:73
Real m11
Element [1, 1] of matrix.
Definition fsb_types.h:69
Real m21
Element [2, 1] of matrix.
Definition fsb_types.h:71
Real m12
Element [1, 2] of matrix.
Definition fsb_types.h:75
Real m20
Element [2, 0] of matrix.
Definition fsb_types.h:65
Real m00
Element [0, 0] of matrix.
Definition fsb_types.h:61
Real m01
Element [0, 1] of matrix.
Definition fsb_types.h:67
Real m10
Element [1, 0] of matrix.
Definition fsb_types.h:63
Real m22
Element [2, 2] of matrix.
Definition fsb_types.h:77
3D vector
Definition fsb_types.h:27
Real y
Y component.
Definition fsb_types.h:31
Real z
Z component.
Definition fsb_types.h:33
Real x
X component.
Definition fsb_types.h:29