KDL 1.5.1
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jntarrayvel.hpp
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1// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2
3// Version: 1.0
4// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6// URL: http://www.orocos.org/kdl
7
8// This library is free software; you can redistribute it and/or
9// modify it under the terms of the GNU Lesser General Public
10// License as published by the Free Software Foundation; either
11// version 2.1 of the License, or (at your option) any later version.
12
13// This library is distributed in the hope that it will be useful,
14// but WITHOUT ANY WARRANTY; without even the implied warranty of
15// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16// Lesser General Public License for more details.
17
18// You should have received a copy of the GNU Lesser General Public
19// License along with this library; if not, write to the Free Software
20// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21
22#ifndef KDL_JNTARRAYVEL_HPP
23#define KDL_JNTARRAYVEL_HPP
24
25#include "utilities/utility.h"
26#include "jntarray.hpp"
27#include "framevel.hpp"
28
29namespace KDL
30{
31 // Equal is friend function, but default arguments for friends are forbidden (ยง8.3.6.4)
32 class JntArrayVel;
33 bool Equal(const JntArrayVel& src1,const JntArrayVel& src2,double eps=epsilon);
34 void Add(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest);
35 void Add(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest);
36 void Subtract(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest);
37 void Subtract(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest);
38 void Multiply(const JntArrayVel& src,const double& factor,JntArrayVel& dest);
39 void Multiply(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest);
40 void Divide(const JntArrayVel& src,const double& factor,JntArrayVel& dest);
41 void Divide(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest);
42 void SetToZero(JntArrayVel& array);
43
44
46 {
47 public:
50 public:
52 explicit JntArrayVel(unsigned int size);
53 JntArrayVel(const JntArray& q,const JntArray& qdot);
54 explicit JntArrayVel(const JntArray& q);
55
56 void resize(unsigned int newSize);
57
58 JntArray value()const;
59 JntArray deriv()const;
60
61 friend void Add(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest);
62 friend void Add(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest);
63 friend void Subtract(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest);
64 friend void Subtract(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest);
65 friend void Multiply(const JntArrayVel& src,const double& factor,JntArrayVel& dest);
66 friend void Multiply(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest);
67 friend void Divide(const JntArrayVel& src,const double& factor,JntArrayVel& dest);
68 friend void Divide(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest);
69 friend void SetToZero(JntArrayVel& array);
70 friend bool Equal(const JntArrayVel& src1,const JntArrayVel& src2,double eps);
71
72 };
73
74}
75
76#endif
Definition: jntarrayvel.hpp:46
JntArray deriv() const
Definition: jntarrayvel.cpp:52
friend void Subtract(const JntArrayVel &src1, const JntArrayVel &src2, JntArrayVel &dest)
Definition: jntarrayvel.cpp:68
JntArray q
Definition: jntarrayvel.hpp:48
JntArray qdot
Definition: jntarrayvel.hpp:49
JntArrayVel()
Definition: jntarrayvel.hpp:51
friend void Multiply(const JntArrayVel &src, const double &factor, JntArrayVel &dest)
Definition: jntarrayvel.cpp:79
friend void Divide(const JntArrayVel &src, const double &factor, JntArrayVel &dest)
Definition: jntarrayvel.cpp:92
friend bool Equal(const JntArrayVel &src1, const JntArrayVel &src2, double eps)
Definition: jntarrayvel.cpp:111
friend void SetToZero(JntArrayVel &array)
Definition: jntarrayvel.cpp:105
void resize(unsigned int newSize)
Definition: jntarrayvel.cpp:41
JntArray value() const
Definition: jntarrayvel.cpp:47
friend void Add(const JntArrayVel &src1, const JntArrayVel &src2, JntArrayVel &dest)
Definition: jntarrayvel.cpp:57
Definition: jntarray.hpp:70
Definition: articulatedbodyinertia.cpp:26
void Add(const JntArray &src1, const JntArray &src2, JntArray &dest)
Function to add two joint arrays, all the arguments must have the same size: A + B = C.
Definition: jntarray.cpp:80
void Divide(const JntArray &src, const double &factor, JntArray &dest)
Function to divide all the array values with a scalar factor: A/b=C.
Definition: jntarray.cpp:95
void Multiply(const JntArray &src, const double &factor, JntArray &dest)
Function to multiply all the array values with a scalar factor: A*b=C.
Definition: jntarray.cpp:90
Rall1d< double > doubleVel
Definition: framevel.hpp:36
void SetToZero(Jacobian &jac)
Definition: jacobian.cpp:79
void Subtract(const JntArray &src1, const JntArray &src2, JntArray &dest)
Function to subtract two joint arrays, all the arguments must have the same size: A - B = C.
Definition: jntarray.cpp:85
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)