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.
C++ · Dependent Scope Syntax
Apr 7, 2024
Some brief notes for quick reference. The typename keyword in variable declaration. The .template or ->template syntax in function invocation. Accessing scope/type-dependent member variables in derived classes.
ROS-2 · Tracing Information in Launch, Xacro, ROS2_Control
Mar 31, 2024
Summary Launch, Xacro, and ros2_control are used very often in large ROS-2 projects. They can serve as single points of entry that lead to the execution of many programs with dynamically generated...
Math Concepts in Robotics and Controls
Mar 24, 2024
Motivation When reading robotics and controls literature, sometimes one would encounter mathematical concepts or terminologies for which the definitions are primarily found in mathematics. Typically, authors employ them to rigorously define things...
C++ · Inheritance Topics, CRTP Singleton Base
Feb 19, 2024
Some brief notes for quick reference. Object slicing and vtable lookup. Access specifiers and accessibility. Virtual inheritance in multiple/diamond inheritance. Singleton base class via Curious Recurring Template Pattern.