Merge of itasc branch. Project files, scons and cmake should be working. Makefile updated but not tested. Comes with Eigen2 2.0.6 C++ matrix library.

1 files changed, 21 insertions, 0 deletions

diff --git a/intern/itasc/kdl/utilities/utility.cpp b/intern/itasc/kdl/utilities/utility.cpp
new file mode 100644
index 00000000000..1ab9cb6f83d
--- /dev/null
+++ b/intern/itasc/kdl/utilities/utility.cpp
@@ -0,0 +1,21 @@
+/** @file   utility.cpp
+ *  @author Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
+ *  @version 
+ *      ORO_Geometry V0.2
+ *   
+ *  @par history
+ *   - changed layout of the comments to accomodate doxygen
+ */
+ 
+#include "utility.h"
+
+namespace KDL {
+
+int STREAMBUFFERSIZE=10000;
+int MAXLENFILENAME = 255;
+const double PI=       3.1415926535897932384626433832795;
+const double deg2rad = 0.01745329251994329576923690768488;
+const double rad2deg = 57.2957795130823208767981548141052;
+double epsilon = 0.000001;
+double epsilon2 = 0.000001*0.000001;
+}