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/** \file itasc/kdl/jntarrayvel.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 "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);
}
}
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