orocos_kdl: orocos_kdl: jntarrayacc.cpp Source File

00001 // Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 
00003 // Version: 1.0
00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00006 // URL: http://www.orocos.org/kdl
00007 
00008 // This library is free software; you can redistribute it and/or
00009 // modify it under the terms of the GNU Lesser General Public
00010 // License as published by the Free Software Foundation; either
00011 // version 2.1 of the License, or (at your option) any later version.
00012 
00013 // This library is distributed in the hope that it will be useful,
00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 // Lesser General Public License for more details.
00017 
00018 // You should have received a copy of the GNU Lesser General Public
00019 // License along with this library; if not, write to the Free Software
00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021 
00022 #include "jntarrayacc.hpp"
00023 
00024 namespace KDL
00025 {
00026     JntArrayAcc::JntArrayAcc(unsigned int size):
00027         q(size),qdot(size),qdotdot(size)
00028     {
00029     }
00030     JntArrayAcc::JntArrayAcc(const JntArray& qin, const JntArray& qdotin,const JntArray& qdotdotin):
00031         q(qin),qdot(qdotin),qdotdot(qdotdotin)
00032     {
00033         assert(q.rows()==qdot.rows()&&qdot.rows()==qdotdot.rows());
00034     }
00035     JntArrayAcc::JntArrayAcc(const JntArray& qin, const JntArray& qdotin):
00036         q(qin),qdot(qdotin),qdotdot(q.rows())
00037     {
00038         assert(q.rows()==qdot.rows());
00039     }
00040     JntArrayAcc::JntArrayAcc(const JntArray& qin):
00041         q(qin),qdot(q.rows()),qdotdot(q.rows())
00042     {
00043     }
00044 
00045     void JntArrayAcc::resize(unsigned int newSize)
00046     {
00047       q.resize(newSize);
00048       qdot.resize(newSize);
00049       qdotdot.resize(newSize);
00050     }
00051 
00052     JntArray JntArrayAcc::value()const
00053     {
00054         return q;
00055     }
00056 
00057     JntArray JntArrayAcc::deriv()const
00058     {
00059         return qdot;
00060     }
00061     JntArray JntArrayAcc::dderiv()const
00062     {
00063         return qdotdot;
00064     }
00065 
00066     void Add(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest)
00067     {
00068         Add(src1.q,src2.q,dest.q);
00069         Add(src1.qdot,src2.qdot,dest.qdot);
00070         Add(src1.qdotdot,src2.qdotdot,dest.qdotdot);
00071     }
00072     void Add(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest)
00073     {
00074         Add(src1.q,src2.q,dest.q);
00075         Add(src1.qdot,src2.qdot,dest.qdot);
00076         dest.qdotdot=src1.qdotdot;
00077     }
00078     void Add(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest)
00079     {
00080         Add(src1.q,src2,dest.q);
00081         dest.qdot=src1.qdot;
00082         dest.qdotdot=src1.qdotdot;
00083     }
00084 
00085     void Subtract(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest)
00086     {
00087         Subtract(src1.q,src2.q,dest.q);
00088         Subtract(src1.qdot,src2.qdot,dest.qdot);
00089         Subtract(src1.qdotdot,src2.qdotdot,dest.qdotdot);
00090     }
00091     void Subtract(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest)
00092     {
00093         Subtract(src1.q,src2.q,dest.q);
00094         Subtract(src1.qdot,src2.qdot,dest.qdot);
00095         dest.qdotdot=src1.qdotdot;
00096     }
00097     void Subtract(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest)
00098     {
00099         Subtract(src1.q,src2,dest.q);
00100         dest.qdot=src1.qdot;
00101         dest.qdotdot=src1.qdotdot;
00102     }
00103 
00104     void Multiply(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest)
00105     {
00106         Multiply(src.q,factor,dest.q);
00107         Multiply(src.qdot,factor,dest.qdot);
00108         Multiply(src.qdotdot,factor,dest.qdotdot);
00109     }
00110     void Multiply(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest)
00111     {
00112         Multiply(src.qdot,factor.grad*2,dest.qdot);
00113         Multiply(src.qdotdot,factor.t,dest.qdotdot);
00114         Add(dest.qdot,dest.qdotdot,dest.qdotdot);
00115         Multiply(src.q,factor.grad,dest.q);
00116         Multiply(src.qdot,factor.t,dest.qdot);
00117         Add(dest.qdot,dest.q,dest.qdot);
00118         Multiply(src.q,factor.t,dest.q);
00119     }
00120     void Multiply(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest)
00121     {
00122         Multiply(src.q,factor.dd,dest.q);
00123         Multiply(src.qdot,factor.d*2,dest.qdot);
00124         Multiply(src.qdotdot,factor.t,dest.qdotdot);
00125         Add(dest.qdotdot,dest.qdot,dest.qdotdot);
00126         Add(dest.qdotdot,dest.q,dest.qdotdot);
00127         Multiply(src.q,factor.d,dest.q);
00128         Multiply(src.qdot,factor.t,dest.qdot);
00129         Add(dest.qdot,dest.q,dest.qdot);
00130         Multiply(src.q,factor.t,dest.q);
00131     }
00132 
00133     void Divide(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest)
00134     {
00135         Divide(src.q,factor,dest.q);
00136         Divide(src.qdot,factor,dest.qdot);
00137         Divide(src.qdotdot,factor,dest.qdotdot);
00138     }
00139     void Divide(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest)
00140     {
00141         Multiply(src.q,(2*factor.grad*factor.grad)/(factor.t*factor.t*factor.t),dest.q);
00142         Multiply(src.qdot,(2*factor.grad)/(factor.t*factor.t),dest.qdot);
00143         Divide(src.qdotdot,factor.t,dest.qdotdot);
00144         Subtract(dest.qdotdot,dest.qdot,dest.qdotdot);
00145         Add(dest.qdotdot,dest.q,dest.qdotdot);
00146         Multiply(src.q,factor.grad/(factor.t*factor.t),dest.q);
00147         Divide(src.qdot,factor.t,dest.qdot);
00148         Subtract(dest.qdot,dest.q,dest.qdot);
00149         Divide(src.q,factor.t,dest.q);
00150     }
00151     void Divide(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest)
00152     {
00153         Multiply(src.q,(2*factor.d*factor.d)/(factor.t*factor.t*factor.t)-factor.dd/(factor.t*factor.t),dest.q);
00154         Multiply(src.qdot,(2*factor.d)/(factor.t*factor.t),dest.qdot);
00155         Divide(src.qdotdot,factor.t,dest.qdotdot);
00156         Subtract(dest.qdotdot,dest.qdot,dest.qdotdot);
00157         Add(dest.qdotdot,dest.q,dest.qdotdot);
00158         Multiply(src.q,factor.d/(factor.t*factor.t),dest.q);
00159         Divide(src.qdot,factor.t,dest.qdot);
00160         Subtract(dest.qdot,dest.q,dest.qdot);
00161         Divide(src.q,factor.t,dest.q);
00162     }
00163 
00164     void SetToZero(JntArrayAcc& array)
00165     {
00166         SetToZero(array.q);
00167         SetToZero(array.qdot);
00168         SetToZero(array.qdotdot);
00169     }
00170 
00171     bool Equal(const JntArrayAcc& src1,const JntArrayAcc& src2,double eps)
00172     {
00173         return (Equal(src1.q,src2.q,eps)&&Equal(src1.qdot,src2.qdot,eps)&&Equal(src1.qdotdot,src2.qdotdot,eps));
00174     }
00175 }
00176 
00177