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In the C and C++ programming languages, an inline function is one qualified with the keyword inline; this serves two purposes: . It serves as a compiler directive that suggests (but does not require) that the compiler substitute the body of the function inline by performing inline expansion, i.e. by inserting the function code at the address of each function call, thereby saving the overhead ...
C++ began as a fork of an early, pre-standardized C, and was designed to be mostly source-and-link compatible with C compilers of the time. [1] [2] Due to this, development tools for the two languages (such as IDEs and compilers) are often integrated into a single product, with the programmer able to specify C or C++ as their source language.
atan2(y, x) returns the angle θ between the positive x-axis and the ray from the origin to the point (x, y), confined to (−π, π].Graph of (,) over /. In computing and mathematics, the function atan2 is the 2-argument arctangent.
[1] [2] All functions use floating-point numbers in one manner or another. Different C standards provide different, albeit backwards-compatible, sets of functions. Most of these functions are also available in the C++ standard library, though in different headers (the C headers are included as well, but only as a deprecated compatibility feature).
The use of "cot( x / y )" (watch out the inversion) introduces an Arccot with codomain (-π / 2 , π / 2 ) and a discontinuity at 0. Shifting this up and down by π / 2 , according to the sign of y, yields the desired three branches of atan2 as negative arctan-branches, leaving just to separately take care of y = 0.
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Eigen is a high-level C++ library of template headers for linear algebra, matrix and vector operations, geometrical transformations, numerical solvers and related algorithms. . Eigen is open-source software licensed under the Mozilla Public License 2.0 since version 3.1