diff options
Diffstat (limited to 'intern/itasc/kdl/jntarrayacc.hpp')
-rw-r--r-- | intern/itasc/kdl/jntarrayacc.hpp | 66 |
1 files changed, 66 insertions, 0 deletions
diff --git a/intern/itasc/kdl/jntarrayacc.hpp b/intern/itasc/kdl/jntarrayacc.hpp new file mode 100644 index 00000000000..275aa58f21e --- /dev/null +++ b/intern/itasc/kdl/jntarrayacc.hpp @@ -0,0 +1,66 @@ +// 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 + +#ifndef KDL_JNTARRAYACC_HPP +#define KDL_JNTARRAYACC_HPP + +#include "utilities/utility.h" +#include "jntarray.hpp" +#include "jntarrayvel.hpp" +#include "frameacc.hpp" + +namespace KDL +{ + class JntArrayAcc + { + public: + JntArray q; + JntArray qdot; + JntArray qdotdot; + public: + JntArrayAcc(unsigned int size); + JntArrayAcc(const JntArray& q,const JntArray& qdot,const JntArray& qdotdot); + JntArrayAcc(const JntArray& q,const JntArray& qdot); + JntArrayAcc(const JntArray& q); + + JntArray value()const; + JntArray deriv()const; + JntArray dderiv()const; + + friend void Add(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest); + friend void Add(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest); + friend void Add(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest); + friend void Subtract(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest); + friend void Subtract(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest); + friend void Subtract(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest); + friend void Multiply(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest); + friend void Multiply(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest); + friend void Multiply(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest); + friend void Divide(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest); + friend void Divide(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest); + friend void Divide(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest); + friend void SetToZero(JntArrayAcc& array); + friend bool Equal(const JntArrayAcc& src1,const JntArrayAcc& src2,double eps=epsilon); + + }; +} + +#endif |