diff options
Diffstat (limited to 'intern/itasc/kdl/frameacc.hpp')
| -rw-r--r-- | intern/itasc/kdl/frameacc.hpp | 39 |
1 files changed, 24 insertions, 15 deletions
diff --git a/intern/itasc/kdl/frameacc.hpp b/intern/itasc/kdl/frameacc.hpp index 40dd5bfa712..bccd229804d 100644 --- a/intern/itasc/kdl/frameacc.hpp +++ b/intern/itasc/kdl/frameacc.hpp @@ -78,9 +78,9 @@ public: IMETHOD friend VectorAcc operator / (const VectorAcc& r2,const doubleAcc& r1); - IMETHOD friend bool Equal(const VectorAcc& r1,const VectorAcc& r2,double eps=epsilon); - IMETHOD friend bool Equal(const Vector& r1,const VectorAcc& r2,double eps=epsilon); - IMETHOD friend bool Equal(const VectorAcc& r1,const Vector& r2,double eps=epsilon); + IMETHOD friend bool Equal(const VectorAcc& r1,const VectorAcc& r2,double eps); + IMETHOD friend bool Equal(const Vector& r1,const VectorAcc& r2,double eps); + IMETHOD friend bool Equal(const VectorAcc& r1,const Vector& r2,double eps); IMETHOD friend VectorAcc operator - (const VectorAcc& r); IMETHOD friend doubleAcc dot(const VectorAcc& lhs,const VectorAcc& rhs); IMETHOD friend doubleAcc dot(const VectorAcc& lhs,const Vector& rhs); @@ -132,9 +132,9 @@ public: IMETHOD friend RotationAcc operator* (const RotationAcc& r1,const RotationAcc& r2); IMETHOD friend RotationAcc operator* (const Rotation& r1,const RotationAcc& r2); IMETHOD friend RotationAcc operator* (const RotationAcc& r1,const Rotation& r2); - IMETHOD friend bool Equal(const RotationAcc& r1,const RotationAcc& r2,double eps=epsilon); - IMETHOD friend bool Equal(const Rotation& r1,const RotationAcc& r2,double eps=epsilon); - IMETHOD friend bool Equal(const RotationAcc& r1,const Rotation& r2,double eps=epsilon); + IMETHOD friend bool Equal(const RotationAcc& r1,const RotationAcc& r2,double eps); + IMETHOD friend bool Equal(const Rotation& r1,const RotationAcc& r2,double eps); + IMETHOD friend bool Equal(const RotationAcc& r1,const Rotation& r2,double eps); IMETHOD TwistAcc Inverse(const TwistAcc& arg) const; IMETHOD TwistAcc Inverse(const Twist& arg) const; IMETHOD TwistAcc operator * (const TwistAcc& arg) const; @@ -170,9 +170,9 @@ public: IMETHOD friend FrameAcc operator * (const FrameAcc& f1,const FrameAcc& f2); IMETHOD friend FrameAcc operator * (const Frame& f1,const FrameAcc& f2); IMETHOD friend FrameAcc operator * (const FrameAcc& f1,const Frame& f2); - IMETHOD friend bool Equal(const FrameAcc& r1,const FrameAcc& r2,double eps=epsilon); - IMETHOD friend bool Equal(const Frame& r1,const FrameAcc& r2,double eps=epsilon); - IMETHOD friend bool Equal(const FrameAcc& r1,const Frame& r2,double eps=epsilon); + IMETHOD friend bool Equal(const FrameAcc& r1,const FrameAcc& r2,double eps); + IMETHOD friend bool Equal(const Frame& r1,const FrameAcc& r2,double eps); + IMETHOD friend bool Equal(const FrameAcc& r1,const Frame& r2,double eps); IMETHOD TwistAcc Inverse(const TwistAcc& arg) const; IMETHOD TwistAcc Inverse(const Twist& arg) const; @@ -226,9 +226,9 @@ public: // the new point. // Complexity : 6M+6A - IMETHOD friend bool Equal(const TwistAcc& a,const TwistAcc& b,double eps=epsilon); - IMETHOD friend bool Equal(const Twist& a,const TwistAcc& b,double eps=epsilon); - IMETHOD friend bool Equal(const TwistAcc& a,const Twist& b,double eps=epsilon); + IMETHOD friend bool Equal(const TwistAcc& a,const TwistAcc& b,double eps); + IMETHOD friend bool Equal(const Twist& a,const TwistAcc& b,double eps); + IMETHOD friend bool Equal(const TwistAcc& a,const Twist& b,double eps); IMETHOD Twist GetTwist() const; @@ -240,9 +240,18 @@ public: }; - - - +IMETHOD bool Equal(const VectorAcc&, const VectorAcc&, double = epsilon); +IMETHOD bool Equal(const Vector&, const VectorAcc&, double = epsilon); +IMETHOD bool Equal(const VectorAcc&, const Vector&, double = epsilon); +IMETHOD bool Equal(const RotationAcc&, const RotationAcc&, double = epsilon); +IMETHOD bool Equal(const Rotation&, const RotationAcc&, double = epsilon); +IMETHOD bool Equal(const RotationAcc&, const Rotation&, double = epsilon); +IMETHOD bool Equal(const FrameAcc&, const FrameAcc&, double = epsilon); +IMETHOD bool Equal(const Frame&, const FrameAcc&, double = epsilon); +IMETHOD bool Equal(const FrameAcc&, const Frame&, double = epsilon); +IMETHOD bool Equal(const TwistAcc&, const TwistAcc&, double = epsilon); +IMETHOD bool Equal(const Twist&, const TwistAcc&, double = epsilon); +IMETHOD bool Equal(const TwistAcc&, const Twist&, double = epsilon); #ifdef KDL_INLINE |