Drake
constants.h
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1 #pragma once
2 
3 namespace drake {
4 
5 constexpr int kQuaternionSize = 4;
6 
7 constexpr int kSpaceDimension = 3;
8 
9 constexpr int kRpySize = 3;
10 
11 /// https://en.wikipedia.org/wiki/Screw_theory#Twist
12 constexpr int kTwistSize = 6;
13 
14 /// http://www.euclideanspace.com/maths/geometry/affine/matrix4x4/
15 constexpr int kHomogeneousTransformSize = 16;
16 
17 const int kRotmatSize = kSpaceDimension * kSpaceDimension;
18 
19 /// Drake supports explicit reasoning about a few carefully chosen random
20 /// distributions.
21 enum class RandomDistribution {
22  kUniform = 0, ///< Vector elements are independent and uniformly distributed
23  /// ∈ [0,1].
24  kGaussian = 1, ///< Vector elements are independent and drawn from a
25  /// mean-zero, unit-variance normal distribution.
26  kExponential = 2, ///< Vector elements are independent and drawn from an
27  /// exponential distribution with λ=1.
28 };
29 
30 } // namespace drake
Definition: automotive_demo.cc:88
constexpr int kHomogeneousTransformSize
http://www.euclideanspace.com/maths/geometry/affine/matrix4x4/
Definition: constants.h:15
const int kRotmatSize
Definition: constants.h:17
Vector elements are independent and uniformly distributed ∈ [0,1].
constexpr int kTwistSize
https://en.wikipedia.org/wiki/Screw_theory#Twist
Definition: constants.h:12
Vector elements are independent and drawn from an exponential distribution with λ=1.
RandomDistribution
Drake supports explicit reasoning about a few carefully chosen random distributions.
Definition: constants.h:21
constexpr int kSpaceDimension
Definition: constants.h:7
constexpr int kQuaternionSize
Definition: constants.h:5
constexpr int kRpySize
Definition: constants.h:9
Vector elements are independent and drawn from a mean-zero, unit-variance normal distribution.