1 files changed, 111 insertions, 0 deletions
diff --git a/intern/itasc/kdl/jntarrayvel.cpp b/intern/itasc/kdl/jntarrayvel.cpp
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+++ b/intern/itasc/kdl/jntarrayvel.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 "jntarrayacc.hpp"
+
+namespace KDL
+{
+    JntArrayVel::JntArrayVel(unsigned int size):
+        q(size),qdot(size)
+    {
+    }
+    JntArrayVel::JntArrayVel(const JntArray& qin, const JntArray& qdotin):
+        q(qin),qdot(qdotin)
+    {
+        assert(q.rows()==qdot.rows());
+    }
+    JntArrayVel::JntArrayVel(const JntArray& qin):
+        q(qin),qdot(q.rows())
+    {
+    }
+
+    JntArray JntArrayVel::value()const
+    {
+        return q;
+    }
+
+    JntArray JntArrayVel::deriv()const
+    {
+        return qdot;
+    }
+
+    void Add(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest)
+    {
+        Add(src1.q,src2.q,dest.q);
+        Add(src1.qdot,src2.qdot,dest.qdot);
+    }
+    void Add(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest)
+    {
+        Add(src1.q,src2,dest.q);
+        dest.qdot=src1.qdot;
+    }
+
+    void Subtract(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest)
+    {
+        Subtract(src1.q,src2.q,dest.q);
+        Subtract(src1.qdot,src2.qdot,dest.qdot);
+    }
+    void Subtract(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest)
+    {
+        Subtract(src1.q,src2,dest.q);
+        dest.qdot=src1.qdot;
+    }
+
+    void Multiply(const JntArrayVel& src,const double& factor,JntArrayVel& dest)
+    {
+        Multiply(src.q,factor,dest.q);
+        Multiply(src.qdot,factor,dest.qdot);
+    }
+    void Multiply(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest)
+    {
+        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 Divide(const JntArrayVel& src,const double& factor,JntArrayVel& dest)
+    {
+        Divide(src.q,factor,dest.q);
+        Divide(src.qdot,factor,dest.qdot);
+    }
+    void Divide(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest)
+    {
+        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 SetToZero(JntArrayVel& array)
+    {
+        SetToZero(array.q);
+        SetToZero(array.qdot);
+    }
+
+    bool Equal(const JntArrayVel& src1,const JntArrayVel& src2,double eps)
+    {
+        return Equal(src1.q,src2.q,eps)&&Equal(src1.qdot,src2.qdot,eps);
+    }
+}
+
+