math.h

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/*
 * Copyright (C) 2006-2018 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms
 * of the BSD-3-Clause license. See the accompanying LICENSE file for
 * details.
*/

#ifndef __CTRLMATH_H__
#define __CTRLMATH_H__

#include <yarp/sig/Vector.h>
#include <yarp/sig/Matrix.h>
#include <yarp/math/Math.h>


namespace iCub
{

namespace ctrl
{

extern const double CTRL_PI;

extern const double CTRL_RAD2DEG;

extern const double CTRL_DEG2RAD;

double dot(const yarp::sig::Matrix &A, int colA,
           const yarp::sig::Matrix &B, int colB);

inline double norm2(const yarp::sig::Matrix &M, int col)
{
    return dot(M,col,M,col);
}

double norm(const yarp::sig::Matrix &M, int col);

yarp::sig::Vector cross(const yarp::sig::Matrix &A, int colA,
                        const yarp::sig::Matrix &B, int colB);

yarp::sig::Vector Dcross(const yarp::sig::Vector &a, const yarp::sig::Vector &Da,
                         const yarp::sig::Vector &b, const yarp::sig::Vector &Db);

yarp::sig::Vector Dcross(const yarp::sig::Matrix &A, const yarp::sig::Matrix &DA, int colA,
                         const yarp::sig::Matrix &B, const yarp::sig::Matrix &DB, int colB);

}
 
}
 
#endif