diff options
Diffstat (limited to 'intern/itasc/kdl/frames.hpp')
| -rw-r--r-- | intern/itasc/kdl/frames.hpp | 29 |
1 files changed, 19 insertions, 10 deletions
diff --git a/intern/itasc/kdl/frames.hpp b/intern/itasc/kdl/frames.hpp index 28a59898e20..87eedea29f7 100644 --- a/intern/itasc/kdl/frames.hpp +++ b/intern/itasc/kdl/frames.hpp @@ -248,10 +248,10 @@ public: //! do not use operator == because the definition of Equal(.,.) is slightly //! different. It compares whether the 2 arguments are equal in an eps-interval - inline friend bool Equal(const Vector& a,const Vector& b,double eps=epsilon); + inline friend bool Equal(const Vector& a,const Vector& b,double eps); //! return a normalized vector - inline friend Vector Normalize(const Vector& a, double eps=epsilon); + inline friend Vector Normalize(const Vector& a, double eps); //! The literal equality operator==(), also identical. inline friend bool operator==(const Vector& a,const Vector& b); @@ -261,7 +261,7 @@ public: friend class Rotation; friend class Frame; }; - + inline Vector Normalize(const Vector&, double eps=epsilon); /** \brief represents rotations in 3 dimensional space. @@ -502,7 +502,7 @@ public: //! do not use operator == because the definition of Equal(.,.) is slightly //! different. It compares whether the 2 arguments are equal in an eps-interval - friend bool Equal(const Rotation& a,const Rotation& b,double eps=epsilon); + //! The literal equality operator==(), also identical. friend bool operator==(const Rotation& a,const Rotation& b); @@ -663,7 +663,7 @@ public: //! do not use operator == because the definition of Equal(.,.) is slightly //! different. It compares whether the 2 arguments are equal in an eps-interval - inline friend bool Equal(const Frame& a,const Frame& b,double eps=epsilon); + inline friend bool Equal(const Frame& a,const Frame& b,double eps); //! The literal equality operator==(), also identical. inline friend bool operator==(const Frame& a,const Frame& b); @@ -735,7 +735,7 @@ public: //! do not use operator == because the definition of Equal(.,.) is slightly //! different. It compares whether the 2 arguments are equal in an eps-interval - inline friend bool Equal(const Twist& a,const Twist& b,double eps=epsilon); + inline friend bool Equal(const Twist& a,const Twist& b,double eps); //! The literal equality operator==(), also identical. inline friend bool operator==(const Twist& a,const Twist& b); @@ -898,7 +898,7 @@ public: //! do not use operator == because the definition of Equal(.,.) is slightly //! different. It compares whether the 2 arguments are equal in an eps-interval - inline friend bool Equal(const Wrench& a,const Wrench& b,double eps=epsilon); + inline friend bool Equal(const Wrench& a,const Wrench& b,double eps); //! The literal equality operator==(), also identical. inline friend bool operator==(const Wrench& a,const Wrench& b); @@ -979,7 +979,7 @@ public: //! do not use operator == because the definition of Equal(.,.) is slightly //! different. It compares whether the 2 arguments are equal in an eps-interval - inline friend bool Equal(const Vector2& a,const Vector2& b,double eps=epsilon); + inline friend bool Equal(const Vector2& a,const Vector2& b,double eps); friend class Rotation2; }; @@ -1026,7 +1026,7 @@ public: //! do not use operator == because the definition of Equal(.,.) is slightly //! different. It compares whether the 2 arguments are equal in an eps-interval - inline friend bool Equal(const Rotation2& a,const Rotation2& b,double eps=epsilon); + inline friend bool Equal(const Rotation2& a,const Rotation2& b,double eps); }; //! A 2D frame class, for further documentation see the Frames class @@ -1067,9 +1067,18 @@ public: tmp.SetIdentity(); return tmp; } - inline friend bool Equal(const Frame2& a,const Frame2& b,double eps=epsilon); + inline friend bool Equal(const Frame2& a,const Frame2& b,double eps); }; +inline bool Equal(const Vector&, const Vector&, double = epsilon); + bool Equal(const Rotation&, const Rotation&, double = epsilon); +inline bool Equal(const Frame&, const Frame&, double = epsilon); +inline bool Equal(const Twist&, const Twist&, double = epsilon); +inline bool Equal(const Wrench&, const Wrench&, double = epsilon); +inline bool Equal(const Vector2&, const Vector2&, double = epsilon); +inline bool Equal(const Rotation2&, const Rotation2&, double = epsilon); +inline bool Equal(const Frame2&, const Frame2&, double = epsilon); + IMETHOD Vector diff(const Vector& a,const Vector& b,double dt=1); IMETHOD Vector diff(const Rotation& R_a_b1,const Rotation& R_a_b2,double dt=1); IMETHOD Twist diff(const Frame& F_a_b1,const Frame& F_a_b2,double dt=1); |