KDL  1.3.0
jntarray.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_JNTARRAY_HPP
23 #define KDL_JNTARRAY_HPP
24 
25 #include "frames.hpp"
26 #include "jacobian.hpp"
27 
28 #include <Eigen/Core>
29 
30 namespace KDL
31 {
69  class JntArray
70  {
71  public:
72  Eigen::VectorXd data;
73 
81  JntArray();
92  explicit JntArray(unsigned int size);
96  JntArray(const JntArray& arg);
97  ~JntArray();
107  void resize(unsigned int newSize);
108 
109  JntArray& operator = ( const JntArray& arg);
118  double operator()(unsigned int i,unsigned int j=0)const;
127  double& operator()(unsigned int i,unsigned int j=0);
132  unsigned int rows()const;
136  unsigned int columns()const;
137 
138  friend void Add(const JntArray& src1,const JntArray& src2,JntArray& dest);
139  friend void Subtract(const JntArray& src1,const JntArray& src2,JntArray& dest);
140  friend void Multiply(const JntArray& src,const double& factor,JntArray& dest);
141  friend void Divide(const JntArray& src,const double& factor,JntArray& dest);
142  friend void MultiplyJacobian(const Jacobian& jac, const JntArray& src, Twist& dest);
143  friend void SetToZero(JntArray& array);
144  friend bool Equal(const JntArray& src1,const JntArray& src2,double eps);
145 
146  friend bool operator==(const JntArray& src1,const JntArray& src2);
147  //friend bool operator!=(const JntArray& src1,const JntArray& src2);
148  };
149 
150  bool operator==(const JntArray& src1,const JntArray& src2);
151  //bool operator!=(const JntArray& src1,const JntArray& src2);
152 
162  void Add(const JntArray& src1,const JntArray& src2,JntArray& dest);
172  void Subtract(const JntArray& src1,const JntArray& src2,JntArray& dest);
182  void Multiply(const JntArray& src,const double& factor,JntArray& dest);
192  void Divide(const JntArray& src,const double& factor,JntArray& dest);
205  void MultiplyJacobian(const Jacobian& jac, const JntArray& src, Twist& dest);
211  void SetToZero(JntArray& array);
222  bool Equal(const JntArray& src1,const JntArray& src2,double eps=epsilon);
223 
224 }
225 
226 #endif
void Subtract(const JntArray &src1, const JntArray &src2, JntArray &dest)
Definition: jntarray.cpp:87
void Divide(const JntArray &src, const double &factor, JntArray &dest)
Definition: jntarray.cpp:97
void MultiplyJacobian(const Jacobian &jac, const JntArray &src, Twist &dest)
Definition: jntarray.cpp:102
void Add(const JntArray &src1, const JntArray &src2, JntArray &dest)
Definition: jntarray.cpp:82
IMETHOD void SetToZero(Vector &v)
Definition: frames.hpp:1062
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
Definition: frameacc.hpp:394
Definition: articulatedbodyinertia.cpp:28
bool operator==(const Rotation &a, const Rotation &b)
Definition: frames.cpp:388
void Multiply(const JntArray &src, const double &factor, JntArray &dest)
Definition: jntarray.cpp:92