22 #ifndef KDL_JNTARRAY_HPP 23 #define KDL_JNTARRAY_HPP 92 explicit JntArray(
unsigned int size);
108 void resize(
unsigned int newSize);
119 double operator()(
unsigned int i,
unsigned int j=0)
const;
128 double&
operator()(
unsigned int i,
unsigned int j=0);
133 unsigned int rows()
const;
friend void MultiplyJacobian(const Jacobian &jac, const JntArray &src, Twist &dest)
Function to multiply a KDL::Jacobian with a KDL::JntArray to get a KDL::Twist, it should not be used ...
Definition: jntarray.cpp:102
friend 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:82
Definition: jacobian.hpp:36
friend void SetToZero(JntArray &array)
Function to set all the values of the array to 0.
Definition: jntarray.cpp:108
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
~JntArray()
Definition: jntarray.cpp:51
unsigned int rows() const
Returns the number of rows (size) of the array.
Definition: jntarray.cpp:72
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: articulatedbodyinertia.cpp:28
double operator()(unsigned int i, unsigned int j=0) const
get_item operator for the joint array, if a second value is given it should be zero, since a JntArray resembles a column.
Definition: jntarray.cpp:60
Eigen::VectorXd data
Definition: jntarray.hpp:72
friend 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:92
void resize(unsigned int newSize)
Resize the array.
Definition: jntarray.cpp:55
friend 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:87
JntArray & operator=(const JntArray &arg)
Definition: jntarray.cpp:44
friend bool operator==(const JntArray &src1, const JntArray &src2)
Definition: jntarray.cpp:120
JntArray()
Construct with no data array.
Definition: jntarray.cpp:28
unsigned int columns() const
Returns the number of columns of the array, always 1.
Definition: jntarray.cpp:77
friend bool Equal(const JntArray &src1, const JntArray &src2, double eps)
Function to check if two arrays are the same with a precision of eps.
Definition: jntarray.cpp:113
friend 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:97