diff options
Diffstat (limited to 'intern/itasc/kdl/framevel.hpp')
| -rw-r--r-- | intern/itasc/kdl/framevel.hpp | 37 |
1 files changed, 25 insertions, 12 deletions
diff --git a/intern/itasc/kdl/framevel.hpp b/intern/itasc/kdl/framevel.hpp index e95c5ef7907..17e1f2adfa0 100644 --- a/intern/itasc/kdl/framevel.hpp +++ b/intern/itasc/kdl/framevel.hpp @@ -110,9 +110,9 @@ public: IMETHOD friend void SetToZero(VectorVel& v); - IMETHOD friend bool Equal(const VectorVel& r1,const VectorVel& r2,double eps=epsilon); - IMETHOD friend bool Equal(const Vector& r1,const VectorVel& r2,double eps=epsilon); - IMETHOD friend bool Equal(const VectorVel& r1,const Vector& r2,double eps=epsilon); + IMETHOD friend bool Equal(const VectorVel& r1,const VectorVel& r2,double eps); + IMETHOD friend bool Equal(const Vector& r1,const VectorVel& r2,double eps); + IMETHOD friend bool Equal(const VectorVel& r1,const Vector& r2,double eps); IMETHOD friend VectorVel operator - (const VectorVel& r); IMETHOD friend doubleVel dot(const VectorVel& lhs,const VectorVel& rhs); IMETHOD friend doubleVel dot(const VectorVel& lhs,const Vector& rhs); @@ -166,9 +166,9 @@ public: IMETHOD friend RotationVel operator* (const RotationVel& r1,const RotationVel& r2); IMETHOD friend RotationVel operator* (const Rotation& r1,const RotationVel& r2); IMETHOD friend RotationVel operator* (const RotationVel& r1,const Rotation& r2); - IMETHOD friend bool Equal(const RotationVel& r1,const RotationVel& r2,double eps=epsilon); - IMETHOD friend bool Equal(const Rotation& r1,const RotationVel& r2,double eps=epsilon); - IMETHOD friend bool Equal(const RotationVel& r1,const Rotation& r2,double eps=epsilon); + IMETHOD friend bool Equal(const RotationVel& r1,const RotationVel& r2,double eps); + IMETHOD friend bool Equal(const Rotation& r1,const RotationVel& r2,double eps); + IMETHOD friend bool Equal(const RotationVel& r1,const Rotation& r2,double eps); IMETHOD TwistVel Inverse(const TwistVel& arg) const; IMETHOD TwistVel Inverse(const Twist& arg) const; @@ -220,9 +220,9 @@ public: IMETHOD friend FrameVel operator * (const FrameVel& f1,const FrameVel& f2); IMETHOD friend FrameVel operator * (const Frame& f1,const FrameVel& f2); IMETHOD friend FrameVel operator * (const FrameVel& f1,const Frame& f2); - IMETHOD friend bool Equal(const FrameVel& r1,const FrameVel& r2,double eps=epsilon); - IMETHOD friend bool Equal(const Frame& r1,const FrameVel& r2,double eps=epsilon); - IMETHOD friend bool Equal(const FrameVel& r1,const Frame& r2,double eps=epsilon); + IMETHOD friend bool Equal(const FrameVel& r1,const FrameVel& r2,double eps); + IMETHOD friend bool Equal(const Frame& r1,const FrameVel& r2,double eps); + IMETHOD friend bool Equal(const FrameVel& r1,const Frame& r2,double eps); IMETHOD TwistVel Inverse(const TwistVel& arg) const; IMETHOD TwistVel Inverse(const Twist& arg) const; @@ -292,9 +292,9 @@ public: // = Equality operators // do not use operator == because the definition of Equal(.,.) is slightly // different. It compares whether the 2 arguments are equal in an eps-interval - IMETHOD friend bool Equal(const TwistVel& a,const TwistVel& b,double eps=epsilon); - IMETHOD friend bool Equal(const Twist& a,const TwistVel& b,double eps=epsilon); - IMETHOD friend bool Equal(const TwistVel& a,const Twist& b,double eps=epsilon); + IMETHOD friend bool Equal(const TwistVel& a,const TwistVel& b,double eps); + IMETHOD friend bool Equal(const Twist& a,const TwistVel& b,double eps); + IMETHOD friend bool Equal(const TwistVel& a,const Twist& b,double eps); // = Conversion to other entities IMETHOD Twist GetTwist() const; @@ -305,6 +305,19 @@ public: }; +IMETHOD bool Equal(const VectorVel&, const VectorVel&, double = epsilon); +IMETHOD bool Equal(const Vector&, const VectorVel&, double = epsilon); +IMETHOD bool Equal(const VectorVel&, const Vector&, double = epsilon); +IMETHOD bool Equal(const RotationVel&, const RotationVel&, double = epsilon); +IMETHOD bool Equal(const Rotation&, const RotationVel&, double = epsilon); +IMETHOD bool Equal(const RotationVel&, const Rotation&, double = epsilon); +IMETHOD bool Equal(const FrameVel&, const FrameVel&, double = epsilon); +IMETHOD bool Equal(const Frame&, const FrameVel&, double = epsilon); +IMETHOD bool Equal(const FrameVel&, const Frame&, double = epsilon); +IMETHOD bool Equal(const TwistVel&, const TwistVel&, double = epsilon); +IMETHOD bool Equal(const Twist&, const TwistVel&, double = epsilon); +IMETHOD bool Equal(const TwistVel&, const Twist&, double = epsilon); + IMETHOD VectorVel diff(const VectorVel& a,const VectorVel& b,double dt=1.0) { return VectorVel(diff(a.p,b.p,dt),diff(a.v,b.v,dt)); } |