Add the StandardAccelerationOfGravitation in the Math component

src/Math/CMakeLists.txt

@@ -6,7 +6,7 @@ set(H_PREFIX include/BipedalLocomotion/Math)
 
 add_bipedal_locomotion_library(
  NAME Math
- PUBLIC_HEADERS ${H_PREFIX}/CARE.h
+ PUBLIC_HEADERS ${H_PREFIX}/CARE.h ${H_PREFIX}/Constants.h
  SOURCES src/CARE.cpp
  PUBLIC_LINK_LIBRARIES Eigen3::Eigen BipedalLocomotion::ParametersHandler
  SUBDIRECTORIES tests)

src/Math/include/BipedalLocomotion/Math/Constants.h

@@ -0,0 +1,24 @@
+/**
+ * @file Costants.h
+ * @authors Giulio Romualdi
+ * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
+ */
+
+#ifndef BIPEDAL_LOCOMOTION_MATH_CONSTANTS_H
+#define BIPEDAL_LOCOMOTION_MATH_CONSTANTS_H
+
+namespace BipedalLocomotion
+{
+namespace Math
+{
+/**
+ * The standard acceleration due to gravity (or standard acceleration of free fall), sometimes
+ * abbreviated as standard gravity, is the nominal gravitational
+ * acceleration of an object in a vacuum near the surface of the Earth.
+ */
+constexpr double StandardAccelerationOfGravitation = 9.80665;
+} // namespace Math
+} // namespace BipedalLocomotion
+
+#endif // BIPEDAL_LOCOMOTION_MATH_CONSTANTS_H