rpapallas

factorial n = product [1..n]

rpapallas

// This work is licensed under a Creative Commons 
// Attribution-ShareAlike 4.0 International License. 
// © 2016 Rafael Papallas and www.computingstories.com

import Foundation
import CoreData

class DatabaseManager {
    /// Implements the Singleton Design Pattern
    static let instance = DatabaseManager()

rpapallas

// This work is licensed under a Creative Commons 
// Attribution-ShareAlike 4.0 International License. 
// © 2016 Rafael Papallas and www.computingstories.com

import Foundation
import CoreData

/// Mock version of DatabaseManager for testing purposes.
///
/// This intent of this class it to inherit all functionality from DatabaseManager

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import XCTest
import CoreData
@testable import DoIt

/// Test the DatabaseManager against a Mock Database Manager.
///
/// Note that testing is done against a mock version of the database, linking
/// to the memory instead of the actual SQLite file.
///
/// - Author:

rpapallas

\usepackage[numbers]{natbib}
\usepackage{cleveref}
\usepackage{hyperref}

\begin{document}
  Some cite \cite{somepaper} and then with author et al \citet{somepaper}.
  
  \bibliographystyle{unsrtnat}
  \bibliography{refs}
\end{document}

rpapallas

def get_xml(arr):
    rotation = "<RotationMat>"
    for row in range(0, 3):
        for col in range(0, 3):
            rotation += str(arr[row, col])
            if row != 2 or col != 2:  rotation += " " 
    rotation += "</RotationMat>"

    translation = "<Translation>"
    for row in range(0, 3):

rpapallas

"""
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

rpapallas

Rz(θ) = 
[ cos θ    -sin θ    0 ]
[ sin θ     cos θ    0 ]
[ 0         0        1 ]

Ry(θ) = 
[ cos θ     0    sin θ ]
[ 0         1    0     ]
[ -sin θ    0    cos θ ]

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"""
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

rpapallas

// Input:
// path: ompl::control::PathControl
// penv: OpenRAVE::EnvironmentBasePtr
// robot: OpenRAVE::RobotBasePtr
//
// Output: Will create an OpenRAVE trajectory from the OMPL PathControl and will also parse deltatimes. 

TrajectoryBasePtr or_traj = RaveCreateTrajectory(penv, "");
auto configuration_specification = robot->GetActiveConfigurationSpecification();
configuration_specification.AddDeltaTimeGroup();