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