1 files changed, 152 insertions, 0 deletions
diff --git a/intern/itasc/kdl/jntarray.cpp b/intern/itasc/kdl/jntarray.cpp
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+++ b/intern/itasc/kdl/jntarray.cpp
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+// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+
+// Version: 1.0
+// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// URL: http://www.orocos.org/kdl
+
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 2.1 of the License, or (at your option) any later version.
+
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Lesser General Public License for more details.
+
+// You should have received a copy of the GNU Lesser General Public
+// License along with this library; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+#include "jntarray.hpp"
+
+namespace KDL
+{
+    JntArray::JntArray():
+            size(0),
+            data(NULL)
+    {
+    }
+
+    JntArray::JntArray(unsigned int _size):
+        size(_size)
+    {
+        assert(0 < size);
+        data = new double[size];
+        SetToZero(*this);
+    }
+
+
+    JntArray::JntArray(const JntArray& arg):
+        size(arg.size)
+    {
+        data = ((0 < size) ? new double[size] : NULL);
+        for(unsigned int i=0;i<size;i++)
+            data[i]=arg.data[i];
+    }
+
+    JntArray& JntArray::operator = (const JntArray& arg)
+    {
+        assert(size==arg.size);
+        for(unsigned int i=0;i<size;i++)
+            data[i]=arg.data[i];
+        return *this;
+    }
+
+
+    JntArray::~JntArray()
+    {
+        delete [] data;
+    }
+
+    void JntArray::resize(unsigned int newSize)
+    {
+        delete [] data;
+        size = newSize;
+        data = new double[size];
+        SetToZero(*this);
+    }
+
+    double JntArray::operator()(unsigned int i,unsigned int j)const
+    {
+        assert(i<size&&j==0);
+        assert(0 != size);  // found JntArray containing no data
+        return data[i];
+    }
+
+    double& JntArray::operator()(unsigned int i,unsigned int j)
+    {
+        assert(i<size&&j==0);
+        assert(0 != size);  // found JntArray containing no data
+        return data[i];
+    }
+
+    unsigned int JntArray::rows()const
+    {
+        return size;
+    }
+
+    unsigned int JntArray::columns()const
+    {
+        return 0;
+    }
+
+    void Add(const JntArray& src1,const JntArray& src2,JntArray& dest)
+    {
+        assert(src1.size==src2.size&&src1.size==dest.size);
+        for(unsigned int i=0;i<dest.size;i++)
+            dest.data[i]=src1.data[i]+src2.data[i];
+    }
+
+    void Subtract(const JntArray& src1,const JntArray& src2,JntArray& dest)
+    {
+        assert(src1.size==src2.size&&src1.size==dest.size);
+        for(unsigned int i=0;i<dest.size;i++)
+            dest.data[i]=src1.data[i]-src2.data[i];
+    }
+
+    void Multiply(const JntArray& src,const double& factor,JntArray& dest)
+    {
+        assert(src.size==dest.size);
+        for(unsigned int i=0;i<dest.size;i++)
+            dest.data[i]=factor*src.data[i];
+    }
+
+    void Divide(const JntArray& src,const double& factor,JntArray& dest)
+    {
+        assert(src.rows()==dest.size);
+        for(unsigned int i=0;i<dest.size;i++)
+            dest.data[i]=src.data[i]/factor;
+    }
+
+    void MultiplyJacobian(const Jacobian& jac, const JntArray& src, Twist& dest)
+    {
+        assert(jac.columns()==src.size);
+        SetToZero(dest);
+        for(unsigned int i=0;i<6;i++)
+            for(unsigned int j=0;j<src.size;j++)
+                dest(i)+=jac(i,j)*src.data[j];
+    }
+
+    void SetToZero(JntArray& array)
+    {
+        for(unsigned int i=0;i<array.size;i++)
+            array.data[i]=0;
+    }
+
+    bool Equal(const JntArray& src1, const JntArray& src2,double eps)
+    {
+        assert(src1.size==src2.size);
+        bool ret = true;
+        for(unsigned int i=0;i<src1.size;i++)
+            ret = ret && Equal(src1.data[i],src2.data[i],eps);
+        return ret;
+    }
+
+    bool operator==(const JntArray& src1,const JntArray& src2){return Equal(src1,src2);};
+    //bool operator!=(const JntArray& src1,const JntArray& src2){return Equal(src1,src2);};
+
+}
+
+