Public Member Functions |
| INLINE V & | D () |
| INLINE V & | DD () |
| INLINE Rall2d< T, V, S > & | operator*= (const Rall2d< T, V, S > &rhs) |
| INLINE Rall2d< T, V, S > & | operator*= (S rhs) |
| INLINE Rall2d< T, V, S > & | operator+= (const Rall2d< T, V, S > &rhs) |
| INLINE Rall2d< T, V, S > & | operator+= (S rhs) |
| INLINE Rall2d< T, V, S > & | operator-= (const Rall2d< T, V, S > &rhs) |
| INLINE Rall2d< T, V, S > & | operator-= (S rhs) |
| INLINE Rall2d< T, V, S > & | operator/= (const Rall2d< T, V, S > &rhs) |
| INLINE Rall2d< T, V, S > & | operator/= (S rhs) |
| INLINE Rall2d< T, V, S > & | operator= (S c) |
| INLINE Rall2d< T, V, S > & | operator= (const Rall2d< T, V, S > &r) |
| INLINE | Rall2d () |
| INLINE | Rall2d (typename TI< T >::Arg c) |
| INLINE | Rall2d (typename TI< T >::Arg tn, const V &afg) |
| INLINE | Rall2d (typename TI< T >::Arg tn, const V &afg, const V &afg2) |
| INLINE | Rall2d (const Rall2d< T, V, S > &r) |
| INLINE T & | Value () |
Static Public Member Functions |
| static INLINE Rall2d< T, V, S > | Identity () |
| static INLINE Rall2d< T, V, S > | Zero () |
Public Attributes |
| V | d |
| | 1st derivative
|
| V | dd |
| | 2nd derivative
|
| T | t |
| | value
|
template<class T, class V = T, class S = T>
class KDL::Rall2d< T, V, S >
Rall2d contains a value, and its gradient and its 2nd derivative, and defines an algebraic structure on this pair. This template class has 3 template parameters :
- T contains the type of the value.
- V contains the type of the gradient (can be a vector-like type).
- S defines a scalar type that can operate on Rall1d. This is the type that is used to give back values of Norm() etc.
S is useful when you recurse a Rall1d object into itself to create a 2nd, 3rd, 4th,.. derivatives. (e.g. Rall1d< Rall1d<double>, Rall1d<double>, double> ).
S is always passed by value.
- Class Type
- Concrete implementation
Definition at line 54 of file rall2d.h.