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<!DOCTYPE html>
<html lang="en-US">
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<title>Drake: Unicode Tips & Tricks</title>
<meta
name="description"
content="Drake ("dragon" in Middle English) is a C++ toolbox started by the Robot
Locomotion Group at the MIT Computer Science and Artificial Intelligence
Lab (CSAIL). The development team has now grown significantly, with core
development led by the Toyota Research Institute. It is a collection of
tools for analyzing the dynamics of our robots and building control
systems for them, with a heavy emphasis on optimization-based design/
analysis.
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<h1>Unicode Tips & Tricks</h1>
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<p>We allow our developers to use Unicode in comments and text outputs. It is
especially useful to typeset mathematical symbols and equations. Here is an
<a href="https://github.com/RobotLocomotion/drake/blob/0c23a1e73759a5399d8be9213be0c81e005b7744/drake/common/autodiff_overloads.h#L77-L82">example</a>.</p>
<div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code>// The multivariable chain rule states:
// df/dv_i = (∂f/∂x * dx/dv_i) + (∂f/∂y * dy/dv_i)
// ∂f/∂x is y*x^(y-1)
// ∂f/∂y is (x^y)*ln(x)
</code></pre></div></div>
<p>Here we collect tips and tricks that we have found while using Unicode. Please
consider contributing if you find useful things to share:</p>
<ul>
<li><a href="http://www.unicodeit.net/">unicodeit.net</a> : A website converts LaTeX
expressions into corresponding Unicode symbols.</li>
<li><a href="https://github.com/clarkgrubb/latex-input">latex-input</a> : Latex input method for
macOS and Microsoft Windows.</li>
<li><a href="https://www.emacswiki.org/emacs/TeXInputMethod">Emacs’ TeX input method</a> :
Emacs’ input method which allows users to enter Unicode characters by typing
their (La)TeX names.</li>
<li>If you experience a problem rendering Unicode symbols in your system, please
download and install the following fonts on your machine:
<ul>
<li><a href="http://www.quivira-font.com/files/Quivira.ttf">Quivira.ttf</a></li>
<li><a href="http://sourceforge.net/projects/dejavu/files/dejavu/2.35/dejavu-fonts-ttf-2.35.tar.bz2">Dejavu Fonts</a></li>
<li><a href="https://github.com/googlei18n/noto-fonts/blob/master/hinted/NotoSans-Regular.ttc?raw=true">NotoSans</a></li>
<li><a href="https://github.com/googlei18n/noto-fonts/blob/master/unhinted/NotoSansSymbols-Regular.ttf?raw=true">NotoSansSymbols</a></li>
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