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Stack Of Tasks
sot-torque-control
Commits
2c6753d1
Commit
2c6753d1
authored
Jan 16, 2018
by
Carlos Mastalli
Browse files
[cleanup] Removed legacy macro for metapod operations
parent
88979495
Changes
1
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include/sot/torque_control/utils/vector-conversions.hh
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2c6753d1
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@@ -116,12 +116,4 @@ namespace Eigen
for(unsigned int i=0; i< src.size(); i++) \
dest(i+offset) = src[i]
//Use ## to combine macro parameters into a single token (token => variable name, etc)
//And # to stringify a macro parameter (very useful when doing "reflection" in C/C++)
/// METAPOD
#define METAPOD_FORCE_FROM_SIGNAL(force, signal) \
const Eigen::VectorXd& tmp##force##_eig = signal; \
metapod::Spatial::ForceTpl<double> force(tmp##force##_eig.tail<3>(), tmp##force##_eig.head<3>())
#endif // __sot_torque_control_vector_conversion_H__
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