jacobianexpr.hpp File Reference

#include <kdl/traits.h>
#include <kdl/jacobian.hpp>
#include <iostream>

Include dependency graph for jacobianexpr.hpp:

Go to the source code of this file.

Classes
class	KDL::Binary< A, B, OpID >
	A type to specify the implementation of a binary operation. More...
class	KDL::BinaryOp< ID, A, B >
class	KDL::OpAbs
class	KDL::OpAcos
class	KDL::OpAdd
class	KDL::OpAsin
class	KDL::OpAtan
class	KDL::OpAtan2
class	KDL::OpCoordX
class	KDL::OpCoordY
class	KDL::OpCoordZ
class	KDL::OpCos
class	KDL::OpDiff
class	KDL::OpDiv
class	KDL::OpDot
class	KDL::OpExp
class	KDL::OpInverse
class	KDL::OpLog
class	KDL::OpMult
class	KDL::OpNegate
class	KDL::OpNorm
class	KDL::OpOrigin
class	KDL::OpRefPoint
class	KDL::OpRotation
class	KDL::OpRotX
class	KDL::OpRotY
class	KDL::OpRotZ
class	KDL::OpSin
class	KDL::OpSqrt
class	KDL::OpSub
class	KDL::OpTan
class	KDL::OpUnitX
class	KDL::OpUnitY
class	KDL::OpUnitZ
class	KDL::Ref< T >
	A reference to T. More...
class	KDL::Unary< A, OpID >
	A type to specify a unary operation. More...
class	KDL::UnaryOp< OpID, A >
	A type to specify the implementation of a unary operation. More...
Namespaces
namespace	KDL
Defines
#define	DEFBINARY_EXPR(NAME, IMPL)
#define	DEFBINARY_LTYPE(NAME, IMPL, LTYPE)
#define	DEFBINARY_RLTYPE(NAME, IMPL, LTYPE, RTYPE)
#define	DEFBINARY_RTYPE(NAME, IMPL, RTYPE)
#define	DEFUNARY_EXPR(NAME, IMPL)
#define	DEFUNARY_TYPE(NAME, IMPL, TYPE)
#define	INLINE2
Functions
template<typename T >
Jacobian< T >	KDL::Constant (const T &arg)
	KDL::DEFBINARY_EXPR (RefPoint, OpRefPoint)
	KDL::DEFBINARY_EXPR (atan2, OpAtan2)
	KDL::DEFBINARY_EXPR (Diff, OpDiff)
	KDL::DEFBINARY_EXPR (dot, OpDot)
	KDL::DEFBINARY_EXPR (operator-, OpSub)
	KDL::DEFBINARY_EXPR (operator+, OpAdd)
	KDL::DEFBINARY_EXPR (operator/, OpDiv)
	KDL::DEFBINARY_EXPR (operator*, OpMult)
	KDL::DEFUNARY_EXPR (CoordZ, OpCoordZ)
	KDL::DEFUNARY_EXPR (CoordY, OpCoordY)
	KDL::DEFUNARY_EXPR (CoordX, OpCoordX)
	KDL::DEFUNARY_EXPR (UnitZ, OpUnitZ)
	KDL::DEFUNARY_EXPR (UnitY, OpUnitY)
	KDL::DEFUNARY_EXPR (UnitX, OpUnitX)
	KDL::DEFUNARY_EXPR (Origin, OpOrigin)
	KDL::DEFUNARY_EXPR (RotMat, OpRotation)
	KDL::DEFUNARY_EXPR (RotZ, OpRotZ)
	KDL::DEFUNARY_EXPR (RotY, OpRotY)
	KDL::DEFUNARY_EXPR (RotX, OpRotX)
	KDL::DEFUNARY_EXPR (Inverse, OpInverse)
	KDL::DEFUNARY_EXPR (norm, OpNorm)
	KDL::DEFUNARY_EXPR (abs, OpAbs)
	KDL::DEFUNARY_EXPR (acos, OpAcos)
	KDL::DEFUNARY_EXPR (asin, OpAsin)
	KDL::DEFUNARY_EXPR (atan, OpAtan)
	KDL::DEFUNARY_EXPR (sqrt, OpSqrt)
	KDL::DEFUNARY_EXPR (log, OpLog)
	KDL::DEFUNARY_EXPR (exp, OpExp)
	KDL::DEFUNARY_EXPR (tan, OpTan)
	KDL::DEFUNARY_EXPR (cos, OpCos)
	KDL::DEFUNARY_EXPR (sin, OpSin)
	KDL::DEFUNARY_EXPR (operator-, OpNegate)
template<typename T >
std::ostream &	KDL::operator<< (std::ostream &os, const Jacobian< T > &F)

---

Define Documentation

#define DEFBINARY_EXPR	(	NAME,
		IMPL		)

Value:

template <typename A,typename B>\
INLINE Expr< Binary< A, B, IMPL >  >\
NAME (const Expr<A>& a,const Expr<B>& b) {\
    typedef Binary<A,B, IMPL> MyType;\
    return MyType(a.elem,b.elem);\
}

Defines a template operator to connect a given operator NAME with the implementation IMPL.

• NAME stands for the operator, e.g. operator- or sin
• IMPL stands for the maker class corresponding to this operator. The argument of this operator are of type Expr<A> and Expr<B>

Definition at line 373 of file jacobianexpr.hpp.

#define DEFBINARY_LTYPE	(	NAME,
		IMPL,
		LTYPE		)

Value:

template <typename B>\
INLINE Expr< Binary< LTYPE , B, IMPL >  >\
        NAME (const LTYPE& a,const Expr<B>& b) {\
    typedef Binary< LTYPE , B, IMPL> MyType;\
    return MyType(a,b.elem);\
}

Defines a template method to connect a given operator NAME with the implementation IMPL.

• NAME stands for the operator, e.g. operator- or sin
• IMPL stands for the maker class corresponding to this operator.
• LTYPE stands for the type of the 1st argument (Left hand side) The arguments of this operator are LTYPE and Expr<..>. LTYPE is normally of the form Ref<Jacobian<..> >.

Definition at line 406 of file jacobianexpr.hpp.

#define DEFBINARY_RLTYPE	(	NAME,
		IMPL,
		LTYPE,
		RTYPE		)

Value:

INLINE Expr< Binary< LTYPE, RTYPE, IMPL >  >\
        NAME (const LTYPE& a,const RTYPE& b) {\
    typedef Binary< LTYPE, RTYPE, IMPL > MyType;\
    return MyType(a,b);\
}

Defines a template method to connect a given operator NAME with the implementation IMPL.

• NAME stands for the operator, e.g. operator- or sin
• IMPL stands for the maker class corresponding to this operator.
• LTYPE stands for the type of the 1st argument (Left hand side)
• RTYPE stands for the type of the 2nd argument (Right hand side) The arguments of this operator are LTYPE and RTYPE. LTYPE and RTYPE are normally of the form Ref<Jacobian<..> >.

Definition at line 423 of file jacobianexpr.hpp.

#define DEFBINARY_RTYPE	(	NAME,
		IMPL,
		RTYPE		)

Value:

template <typename A>\
INLINE Expr< Binary< A, RTYPE, IMPL >  >\
        NAME (const Expr<A>& a,const RTYPE& b) {\
    typedef Binary<A,RTYPE, IMPL> MyType;\
    return MyType(a.elem,b);\
}

Defines a template method to connect a given operator NAME with the implementation IMPL.

• NAME stands for the operator, e.g. operator- or sin
• IMPL stands for the maker class corresponding to this operator.
• RTYPE stands for the type of the 2nd argument (Right hand side) The arguments of this operator are Expr<..> and RTYPE. RTYPE is normally of the form Ref<Jacobian<..> >.

Definition at line 390 of file jacobianexpr.hpp.

#define DEFUNARY_EXPR	(	NAME,
		IMPL		)

Value:

template <typename A>\
INLINE Expr< Unary< A, IMPL> >\
NAME (const Expr<A>& a) {\
    typedef Unary< A, IMPL> MyType;\
    return MyType(a.elem);\
}

Defines a template operator to connect a given operator NAME with the implementation IMPL.

• NAME stands for the operator, e.g. operator- or sin
• IMPL stands for the maker class corresponding to this operator. The argument of this operator is a type Expr

Definition at line 342 of file jacobianexpr.hpp.

#define DEFUNARY_TYPE	(	NAME,
		IMPL,
		TYPE		)

Value:

INLINE Expr< Unary< TYPE, IMPL> >\
NAME(const TYPE& a) {\
    typedef Unary< TYPE , IMPL> MyType;\
    return MyType(a);\
}

Defines a template method to connect a given operator NAME with the implementation IMPL.

• NAME stands for the operator, e.g. operator- or sin
• IMPL stands for the maker class corresponding to this operator.
• TYPE stands for the type of the argument. The argument of this operator is a type TYPE that serves as an argument to our operation TYPE is normally of the form Ref<Jacobian<..> >.

Definition at line 358 of file jacobianexpr.hpp.

#define INLINE2

Definition at line 35 of file jacobianexpr.hpp.