22 #ifndef KDL_JNTARRAYACC_HPP 23 #define KDL_JNTARRAYACC_HPP 25 #include "utilities/utility.h" 34 bool Equal(
const JntArrayAcc& src1,
const JntArrayAcc& src2,
double eps=epsilon);
35 void Add(
const JntArrayAcc& src1,
const JntArrayAcc& src2,JntArrayAcc& dest);
36 void Add(
const JntArrayAcc& src1,
const JntArrayVel& src2,JntArrayAcc& dest);
37 void Add(
const JntArrayAcc& src1,
const JntArray& src2,JntArrayAcc& dest);
38 void Subtract(
const JntArrayAcc& src1,
const JntArrayAcc& src2,JntArrayAcc& dest);
39 void Subtract(
const JntArrayAcc& src1,
const JntArrayVel& src2,JntArrayAcc& dest);
40 void Subtract(
const JntArrayAcc& src1,
const JntArray& src2,JntArrayAcc& dest);
41 void Multiply(
const JntArrayAcc& src,
const double& factor,JntArrayAcc& dest);
44 void Divide(
const JntArrayAcc& src,
const double& factor,JntArrayAcc& dest);
45 void Divide(
const JntArrayAcc& src,
const doubleVel& factor,JntArrayAcc& dest);
46 void Divide(
const JntArrayAcc& src,
const doubleAcc& factor,JntArrayAcc& dest);
62 void resize(
unsigned int newSize);
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
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
JntArrayAcc()
Definition: jntarrayacc.hpp:56
friend void Add(const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
Definition: jntarrayacc.cpp:66
void resize(unsigned int newSize)
Definition: jntarrayacc.cpp:45
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
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
JntArray qdot
Definition: jntarrayacc.hpp:53
friend void Subtract(const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
Definition: jntarrayacc.cpp:85
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
JntArray value() const
Definition: jntarrayacc.cpp:52
JntArray deriv() const
Definition: jntarrayacc.cpp:57
JntArray q
Definition: jntarrayacc.hpp:52
Definition: jntarrayvel.hpp:45
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:54
Definition: jntarrayacc.hpp:49
JntArray dderiv() const
Definition: jntarrayacc.cpp:61
Rall1d< double > doubleVel
Definition: framevel.hpp:36
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