define PI_2

jhavl · jhavl · commit 2ce1ce903999 · 2022-05-10T13:05:34.000+10:00
diff --git a/roboticstoolbox/core/linalg.cpp b/roboticstoolbox/core/linalg.cpp
@@ -150,9 +150,9 @@ extern "C"
             else
             {
                 // a = np.pi / 2 * (np.diag(R) + 1);
-                e[3] = M_PI_2 * (R[0] + 1);
-                e[4] = M_PI_2 * (R[4] + 1);
-                e[5] = M_PI_2 * (R[8] + 1);
+                e[3] = PI_2 * (R[0] + 1);
+                e[4] = PI_2 * (R[4] + 1);
+                e[5] = PI_2 * (R[8] + 1);
             }
         }
         else
diff --git a/roboticstoolbox/core/linalg.h b/roboticstoolbox/core/linalg.h
@@ -15,6 +15,8 @@ extern "C"
 {
 #endif /* __cplusplus */
 
+#define PI_2 1.57079632679489661923132169163975144
+
 #define Matrix4dc Eigen::Matrix4d
 #define Matrix4dr Eigen::Matrix<double, 4, 4, Eigen::RowMajor>
 

Original file line number	Diff line number	Diff line change
`@@ -15,6 +15,8 @@ extern "C"`
`15`	`15`	`{`
`16`	`16`	`#endif /* __cplusplus */`
`17`	`17`
	`18`	`+#define PI_2 1.57079632679489661923132169163975144`
	`19`	`+`
`18`	`20`	`#define Matrix4dc Eigen::Matrix4d`
`19`	`21`	`#define Matrix4dr Eigen::Matrix<double, 4, 4, Eigen::RowMajor>`
`20`	`22`