utils.h

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#ifndef utils_h
#define utils_h
 
#include<cmath>
#include "drake/common/symbolic.h"
#include<Eigen/Core>
 
#define _USE_MATH_DEFINES
 
double wrap(double num, double range=2*M_PI, double offset=-M_PI);
 
drake::symbolic::Expression drake_or(drake::symbolic::Variable &b1, drake::symbolic::Variable &b2);
 
drake::symbolic::Expression drake_and(drake::symbolic::Variable &b1, drake::symbolic::Variable &b2);
 
drake::symbolic::Expression drake_nor(drake::symbolic::Variable &b1, drake::symbolic::Variable &b2);
 
drake::symbolic::Expression drake_nand(drake::symbolic::Variable &b1, drake::symbolic::Variable &b2);
 
Eigen::MatrixXd get_sin_coeffs();
 
Eigen::MatrixXd get_cos_coeffs();
#endif