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/** \file itasc/kdl/jntarrayacc.cpp
* \ingroup intern_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 "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));
}
}
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