Drake
constants.h
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1 #pragma once
2 
4 
5 namespace drake {
6 
7 constexpr int kQuaternionSize = 4;
8 
9 constexpr int kSpaceDimension = 3;
10 
11 constexpr int kRpySize = 3;
12 
14 constexpr int kTwistSize = 6;
15 
17 constexpr int kHomogeneousTransformSize = 16;
18 
19 const int kRotmatSize = kSpaceDimension * kSpaceDimension;
20 
23 enum class RandomDistribution {
24  kUniform = 0,
25  kGaussian = 1,
27 };
30 
31 } // namespace drake
Definition: automotive_demo.cc:88
This header provides a std::make_unique implementation to be used when the compiler does not support ...
constexpr int kHomogeneousTransformSize
http://www.euclideanspace.com/maths/geometry/affine/matrix4x4/
Definition: constants.h:17
const int kRotmatSize
Definition: constants.h:19
Anticipated vector elements are independent and uniformly distributed ∈ [0,1].
constexpr int kTwistSize
https://en.wikipedia.org/wiki/Screw_theory#Twist
Definition: constants.h:14
RandomDistribution
Drake supports explicit reasoning about a few carefully chosen random distributions.
Definition: constants.h:23
constexpr int kSpaceDimension
Definition: constants.h:9
constexpr int kQuaternionSize
Definition: constants.h:7
constexpr int kRpySize
Definition: constants.h:11
Anticipated vector elements are independent and drawn from a mean-zero, unit-variance normal distribu...