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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
#ifndef KDL_JNTARRAYVEL_HPP
#define KDL_JNTARRAYVEL_HPP
#include "utilities/utility.h"
#include "jntarray.hpp"
#include "framevel.hpp"
namespace KDL
{
class JntArrayVel
{
public:
JntArray q;
JntArray qdot;
public:
JntArrayVel(unsigned int size);
JntArrayVel(const JntArray& q,const JntArray& qdot);
JntArrayVel(const JntArray& q);
JntArray value()const;
JntArray deriv()const;
friend void Add(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest);
friend void Add(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest);
friend void Subtract(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest);
friend void Subtract(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest);
friend void Multiply(const JntArrayVel& src,const double& factor,JntArrayVel& dest);
friend void Multiply(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest);
friend void Divide(const JntArrayVel& src,const double& factor,JntArrayVel& dest);
friend void Divide(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest);
friend void SetToZero(JntArrayVel& array);
friend bool Equal(const JntArrayVel& src1,const JntArrayVel& src2,double eps=epsilon);
};
}
#endif
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