constants.h File Reference
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 NOTE: The contents of this class are for the most part direct ports of drake/systems/plants//inverseKinBackend.m from Matlab to C++; many methods and variables follow Matlab conventions and are documented in that file.


constexpr int kQuaternionSize = 4
constexpr int kSpaceDimension = 3
constexpr int kRpySize = 3
constexpr int kTwistSize = 6
 https://en.wikipedia.org/wiki/Screw_theory#Twist More...
constexpr int kHomogeneousTransformSize = 16
 http://www.euclideanspace.com/maths/geometry/affine/matrix4x4/ More...
const int kRotmatSize = kSpaceDimension * kSpaceDimension