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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 #ifndef KDL_JNTARRAYVEL_HPP 00023 #define KDL_JNTARRAYVEL_HPP 00024 00025 #include "utilities/utility.h" 00026 #include "jntarray.hpp" 00027 #include "framevel.hpp" 00028 00029 namespace KDL 00030 { 00031 00032 class JntArrayVel 00033 { 00034 public: 00035 JntArray q; 00036 JntArray qdot; 00037 public: 00038 JntArrayVel(){}; 00039 explicit JntArrayVel(unsigned int size); 00040 JntArrayVel(const JntArray& q,const JntArray& qdot); 00041 explicit JntArrayVel(const JntArray& q); 00042 00043 void resize(unsigned int newSize); 00044 00045 JntArray value()const; 00046 JntArray deriv()const; 00047 00048 friend void Add(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest); 00049 friend void Add(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest); 00050 friend void Subtract(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest); 00051 friend void Subtract(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest); 00052 friend void Multiply(const JntArrayVel& src,const double& factor,JntArrayVel& dest); 00053 friend void Multiply(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest); 00054 friend void Divide(const JntArrayVel& src,const double& factor,JntArrayVel& dest); 00055 friend void Divide(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest); 00056 friend void SetToZero(JntArrayVel& array); 00057 friend bool Equal(const JntArrayVel& src1,const JntArrayVel& src2,double eps=epsilon); 00058 00059 }; 00060 } 00061 00062 #endif