Blender  V3.3
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 namespace KDL
29 {
67  class JntArray
68  {
69  private:
70  unsigned int size;
71  double* data;
72  public:
80  JntArray();
91  JntArray(unsigned int size);
95  JntArray(const JntArray& arg);
96  ~JntArray();
106  void resize(unsigned int newSize);
107 
108  JntArray& operator = ( const JntArray& arg);
116  double operator[](unsigned int i) const;
124  double& operator[](unsigned int i);
132  double* operator()(unsigned int i);
137  unsigned int rows()const;
141  unsigned int columns()const;
142 
152  friend void Add(const JntArray& src1,const JntArray& src2,JntArray& dest);
162  friend void Subtract(const JntArray& src1,const JntArray& src2,JntArray& dest);
172  friend void Multiply(const JntArray& src,const double& factor,JntArray& dest);
182  friend void Divide(const JntArray& src,const double& factor,JntArray& dest);
195  friend void MultiplyJacobian(const Jacobian& jac, const JntArray& src, Twist& dest);
201  friend void SetToZero(JntArray& array);
212  friend bool Equal(const JntArray& src1,const JntArray& src2,double eps);
213 
214  friend bool operator==(const JntArray& src1,const JntArray& src2);
215  //friend bool operator!=(const JntArray& src1,const JntArray& src2);
216  };
217  bool Equal(const JntArray&,const JntArray&, double = epsilon);
218  bool operator==(const JntArray& src1,const JntArray& src2);
219  //bool operator!=(const JntArray& src1,const JntArray& src2);
220 
221 }
222 
223 #endif
double * operator()(unsigned int i)
Definition: jntarray.cpp:86
unsigned int rows() const
Definition: jntarray.cpp:93
friend void SetToZero(JntArray &array)
Definition: jntarray.cpp:140
friend bool operator==(const JntArray &src1, const JntArray &src2)
Definition: jntarray.cpp:155
JntArray & operator=(const JntArray &arg)
Definition: jntarray.cpp:52
void resize(unsigned int newSize)
Definition: jntarray.cpp:66
friend void MultiplyJacobian(const Jacobian &jac, const JntArray &src, Twist &dest)
Definition: jntarray.cpp:131
friend void Subtract(const JntArray &src1, const JntArray &src2, JntArray &dest)
Definition: jntarray.cpp:110
double operator[](unsigned int i) const
Definition: jntarray.cpp:74
friend void Multiply(const JntArray &src, const double &factor, JntArray &dest)
Definition: jntarray.cpp:117
friend void Divide(const JntArray &src, const double &factor, JntArray &dest)
Definition: jntarray.cpp:124
friend bool Equal(const JntArray &src1, const JntArray &src2, double eps)
Definition: jntarray.cpp:146
friend void Add(const JntArray &src1, const JntArray &src2, JntArray &dest)
Definition: jntarray.cpp:103
unsigned int columns() const
Definition: jntarray.cpp:98
represents both translational and rotational velocities.
Definition: frames.hpp:679
SyclQueue void void * src
SyclQueue void * dest
Definition: chain.cpp:27
bool operator==(const Rotation &a, const Rotation &b)
Definition: frames.cpp:377
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