Blender  V3.3
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 {
33  {
34  public:
38  public:
39  JntArrayAcc(unsigned int size);
40  JntArrayAcc(const JntArray& q,const JntArray& qdot,const JntArray& qdotdot);
41  JntArrayAcc(const JntArray& q,const JntArray& qdot);
42  JntArrayAcc(const JntArray& q);
43 
44  JntArray value()const;
45  JntArray deriv()const;
46  JntArray dderiv()const;
47 
48  friend void Add(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest);
49  friend void Add(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest);
50  friend void Add(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest);
51  friend void Subtract(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest);
52  friend void Subtract(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest);
53  friend void Subtract(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest);
54  friend void Multiply(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest);
55  friend void Multiply(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest);
56  friend void Multiply(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest);
57  friend void Divide(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest);
58  friend void Divide(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest);
59  friend void Divide(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest);
60  friend void SetToZero(JntArrayAcc& array);
61  friend bool Equal(const JntArrayAcc& src1,const JntArrayAcc& src2,double eps);
62  };
63 
64  bool Equal(const JntArrayAcc&, const JntArrayAcc&, double = epsilon);
65 }
66 
67 #endif
static DBVT_INLINE btScalar size(const btDbvtVolume &a)
Definition: btDbvt.cpp:52
JntArray deriv() const
Definition: jntarrayacc.cpp:53
friend void Multiply(const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
JntArray dderiv() const
Definition: jntarrayacc.cpp:57
JntArray value() const
Definition: jntarrayacc.cpp:48
friend void SetToZero(JntArrayAcc &array)
friend void Subtract(const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
Definition: jntarrayacc.cpp:81
JntArrayAcc(unsigned int size)
Definition: jntarrayacc.cpp:29
friend void Add(const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
Definition: jntarrayacc.cpp:62
friend void Divide(const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
friend bool Equal(const JntArrayAcc &src1, const JntArrayAcc &src2, double eps)
SyclQueue void void * src
SyclQueue void * dest
Definition: chain.cpp:27
double epsilon
default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001.
Definition: utility.cpp:22
IMETHOD bool Equal(const VectorAcc &, const VectorAcc &, double=epsilon)
const btScalar eps
Definition: poly34.cpp:11