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Diffstat (limited to 'intern/itasc/kdl/jntarrayacc.cpp')
| -rw-r--r-- | intern/itasc/kdl/jntarrayacc.cpp | 170 |
1 files changed, 170 insertions, 0 deletions
diff --git a/intern/itasc/kdl/jntarrayacc.cpp b/intern/itasc/kdl/jntarrayacc.cpp new file mode 100644 index 00000000000..3c9c67d9ef9 --- /dev/null +++ b/intern/itasc/kdl/jntarrayacc.cpp @@ -0,0 +1,170 @@ +// 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 "jntarrayacc.hpp" + +namespace KDL +{ + JntArrayAcc::JntArrayAcc(unsigned int size): + q(size),qdot(size),qdotdot(size) + { + } + JntArrayAcc::JntArrayAcc(const JntArray& qin, const JntArray& qdotin,const JntArray& qdotdotin): + q(qin),qdot(qdotin),qdotdot(qdotdotin) + { + assert(q.rows()==qdot.rows()&&qdot.rows()==qdotdot.rows()); + } + JntArrayAcc::JntArrayAcc(const JntArray& qin, const JntArray& qdotin): + q(qin),qdot(qdotin),qdotdot(q.rows()) + { + assert(q.rows()==qdot.rows()); + } + JntArrayAcc::JntArrayAcc(const JntArray& qin): + q(qin),qdot(q.rows()),qdotdot(q.rows()) + { + } + + JntArray JntArrayAcc::value()const + { + return q; + } + + JntArray JntArrayAcc::deriv()const + { + return qdot; + } + JntArray JntArrayAcc::dderiv()const + { + return qdotdot; + } + + void Add(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest) + { + Add(src1.q,src2.q,dest.q); + Add(src1.qdot,src2.qdot,dest.qdot); + Add(src1.qdotdot,src2.qdotdot,dest.qdotdot); + } + void Add(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest) + { + Add(src1.q,src2.q,dest.q); + Add(src1.qdot,src2.qdot,dest.qdot); + dest.qdotdot=src1.qdotdot; + } + void Add(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest) + { + Add(src1.q,src2,dest.q); + dest.qdot=src1.qdot; + dest.qdotdot=src1.qdotdot; + } + + void Subtract(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest) + { + Subtract(src1.q,src2.q,dest.q); + Subtract(src1.qdot,src2.qdot,dest.qdot); + Subtract(src1.qdotdot,src2.qdotdot,dest.qdotdot); + } + void Subtract(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest) + { + Subtract(src1.q,src2.q,dest.q); + Subtract(src1.qdot,src2.qdot,dest.qdot); + dest.qdotdot=src1.qdotdot; + } + void Subtract(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest) + { + Subtract(src1.q,src2,dest.q); + dest.qdot=src1.qdot; + dest.qdotdot=src1.qdotdot; + } + + void Multiply(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest) + { + Multiply(src.q,factor,dest.q); + Multiply(src.qdot,factor,dest.qdot); + Multiply(src.qdotdot,factor,dest.qdotdot); + } + void Multiply(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest) + { + Multiply(src.qdot,factor.grad*2,dest.qdot); + Multiply(src.qdotdot,factor.t,dest.qdotdot); + Add(dest.qdot,dest.qdotdot,dest.qdotdot); + Multiply(src.q,factor.grad,dest.q); + Multiply(src.qdot,factor.t,dest.qdot); + Add(dest.qdot,dest.q,dest.qdot); + Multiply(src.q,factor.t,dest.q); + } + void Multiply(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest) + { + Multiply(src.q,factor.dd,dest.q); + Multiply(src.qdot,factor.d*2,dest.qdot); + Multiply(src.qdotdot,factor.t,dest.qdotdot); + Add(dest.qdotdot,dest.qdot,dest.qdotdot); + Add(dest.qdotdot,dest.q,dest.qdotdot); + Multiply(src.q,factor.d,dest.q); + Multiply(src.qdot,factor.t,dest.qdot); + Add(dest.qdot,dest.q,dest.qdot); + Multiply(src.q,factor.t,dest.q); + } + + void Divide(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest) + { + Divide(src.q,factor,dest.q); + Divide(src.qdot,factor,dest.qdot); + Divide(src.qdotdot,factor,dest.qdotdot); + } + void Divide(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest) + { + Multiply(src.q,(2*factor.grad*factor.grad)/(factor.t*factor.t*factor.t),dest.q); + Multiply(src.qdot,(2*factor.grad)/(factor.t*factor.t),dest.qdot); + Divide(src.qdotdot,factor.t,dest.qdotdot); + Subtract(dest.qdotdot,dest.qdot,dest.qdotdot); + Add(dest.qdotdot,dest.q,dest.qdotdot); + Multiply(src.q,factor.grad/(factor.t*factor.t),dest.q); + Divide(src.qdot,factor.t,dest.qdot); + Subtract(dest.qdot,dest.q,dest.qdot); + Divide(src.q,factor.t,dest.q); + } + void Divide(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest) + { + Multiply(src.q,(2*factor.d*factor.d)/(factor.t*factor.t*factor.t)-factor.dd/(factor.t*factor.t),dest.q); + Multiply(src.qdot,(2*factor.d)/(factor.t*factor.t),dest.qdot); + Divide(src.qdotdot,factor.t,dest.qdotdot); + Subtract(dest.qdotdot,dest.qdot,dest.qdotdot); + Add(dest.qdotdot,dest.q,dest.qdotdot); + Multiply(src.q,factor.d/(factor.t*factor.t),dest.q); + Divide(src.qdot,factor.t,dest.qdot); + Subtract(dest.qdot,dest.q,dest.qdot); + Divide(src.q,factor.t,dest.q); + } + + void SetToZero(JntArrayAcc& array) + { + SetToZero(array.q); + SetToZero(array.qdot); + SetToZero(array.qdotdot); + } + + bool Equal(const JntArrayAcc& src1,const JntArrayAcc& src2,double eps) + { + return (Equal(src1.q,src2.q,eps)&&Equal(src1.qdot,src2.qdot,eps)&&Equal(src1.qdotdot,src2.qdotdot,eps)); + } +} + + |