Toolbox · QpOASES Wrapper
Jun 15, 2024
Some brief notes for quick reference. A wrapper for the good old quadratic programming library qpOASES.
Debug · Google Logging Library 101
Jun 9, 2024
Preface The Google Logging Library, glog, is super handy and worth taking some notes for quick reference. This post mostly refers to article How To Use Google Logging Library, with minor modification,...
Eigen · Orientation Difference and SO(3) Matrices
May 19, 2024
Preface Exponential and Logarithm in SO(3), SE(3), Quaternion Space discussed the theory and physics behind orientation difference. Spatial Kinematics and Transformations mentioned the concept of skew symmetric matrix that is closely related to rotation matrices. This post presents their implementation in C++ for future reference.
C++ · Join and Transform STL Containers
Apr 20, 2024
Some brief notes for quick reference. See Eigen 101 · Mapping, Printing, Unary Operations for their Eigen counterparts. Joining the elements of a container for fprintf-type printers. Transforming container elements in place....
The Eastern Peak of Mountain Spirit
Apr 13, 2024
It is said to be the tallest peak around Beijing. But there isn't much to see during this season. It could be much more colorful in the summer. Looking forward to hike...