KDL  1.3.0
jntarrayacc.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_JNTARRAYACC_HPP
23 #define KDL_JNTARRAYACC_HPP
24 
25 #include "utilities/utility.h"
26 #include "jntarray.hpp"
27 #include "jntarrayvel.hpp"
28 #include "frameacc.hpp"
29 
30 namespace KDL
31 {
32  // Equal is friend function, but default arguments for friends are forbidden (ยง8.3.6.4)
33  class JntArrayAcc;
34  bool Equal(const JntArrayAcc& src1,const JntArrayAcc& src2,double eps=epsilon);
35 
37  {
38  public:
39  JntArray q;
40  JntArray qdot;
41  JntArray qdotdot;
42  public:
44  explicit JntArrayAcc(unsigned int size);
45  JntArrayAcc(const JntArray& q,const JntArray& qdot,const JntArray& qdotdot);
46  JntArrayAcc(const JntArray& q,const JntArray& qdot);
47  explicit JntArrayAcc(const JntArray& q);
48 
49  void resize(unsigned int newSize);
50 
51  JntArray value()const;
52  JntArray deriv()const;
53  JntArray dderiv()const;
54 
55  friend void Add(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest);
56  friend void Add(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest);
57  friend void Add(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest);
58  friend void Subtract(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest);
59  friend void Subtract(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest);
60  friend void Subtract(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest);
61  friend void Multiply(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest);
62  friend void Multiply(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest);
63  friend void Multiply(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest);
64  friend void Divide(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest);
65  friend void Divide(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest);
66  friend void Divide(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest);
67  friend void SetToZero(JntArrayAcc& array);
68  friend bool Equal(const JntArrayAcc& src1,const JntArrayAcc& src2,double eps);
69 
70  };
71 }
72 
73 #endif
JntArray dderiv() const
Definition: jntarrayacc.cpp:61
JntArrayAcc()
Definition: jntarrayacc.hpp:43
friend void Add(const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
Definition: jntarrayacc.cpp:66
void resize(unsigned int newSize)
Definition: jntarrayacc.cpp:45
JntArray value() const
Definition: jntarrayacc.cpp:52
JntArray qdot
Definition: jntarrayacc.hpp:40
friend void Subtract(const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
Definition: jntarrayacc.cpp:85
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
Definition: frameacc.hpp:394
Definition: articulatedbodyinertia.cpp:28
JntArray q
Definition: jntarrayacc.hpp:39
Definition: jntarrayvel.hpp:36
friend bool Equal(const JntArrayAcc &src1, const JntArrayAcc &src2, double eps)
Definition: jntarrayacc.cpp:171
Rall2d< double, double, double > doubleAcc
Definition: frameacc.hpp:40
friend void SetToZero(JntArrayAcc &array)
Definition: jntarrayacc.cpp:164
friend void Divide(const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
Definition: jntarrayacc.cpp:133
friend void Multiply(const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
Definition: jntarrayacc.cpp:104
JntArray qdotdot
Definition: jntarrayacc.hpp:41
JntArray deriv() const
Definition: jntarrayacc.cpp:57
Definition: jntarrayacc.hpp:36
Rall1d< double > doubleVel
Definition: framevel.hpp:36