30 #ifndef _RL_KIN_PUMA_H_
31 #define _RL_KIN_PUMA_H_
90 template<
typename T > T
atan2(
const T& y,
const T& x)
const
92 T a = ::std::atan2(y, x);
93 return (::std::abs(a) <= 1.0e-6f) ? 0.0f : a;
96 template<
typename T > T
cos(
const T& x)
const
99 return (::std::abs(c) <= 1.0e-6f) ? 0.0f : c;
102 template<
typename T > T
sin(
const T& x)
const
105 return (::std::abs(s) <= 1.0e-6f) ? 0.0f : s;
117 #endif // _RL_KIN_PUMA_H_