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/** \file itasc/kdl/jntarray.cpp
* \ingroup itasc
*/
// 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)const
{
assert(i<size);
return data[i];
}
double& JntArray::operator[](unsigned int i)
{
assert(i<size);
return data[i];
}
double* JntArray::operator()(unsigned int i)
{
if (i>=size)
return NULL;
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);};
}
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