orocos_kdl: jntarrayvel.hpp Source File

Go to the documentation of this 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 #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     // Equal is friend function, but default arguments for friends are forbidden (§8.3.6.4)
00032     class JntArrayVel;
00033     bool Equal(const JntArrayVel& src1,const JntArrayVel& src2,double eps=epsilon);
00034     void Add(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest);
00035     void Add(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest);
00036     void Subtract(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest);
00037     void Subtract(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest);
00038     void Multiply(const JntArrayVel& src,const double& factor,JntArrayVel& dest);
00039     void Multiply(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest);
00040     void Divide(const JntArrayVel& src,const double& factor,JntArrayVel& dest);
00041     void Divide(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest);
00042     void SetToZero(JntArrayVel& array);
00043 
00044 
00045     class JntArrayVel
00046     {
00047     public:
00048         JntArray q;
00049         JntArray qdot;
00050     public:
00051         JntArrayVel(){};
00052         explicit JntArrayVel(unsigned int size);
00053         JntArrayVel(const JntArray& q,const JntArray& qdot);
00054         explicit JntArrayVel(const JntArray& q);
00055 
00056         void resize(unsigned int newSize);
00057 
00058         JntArray value()const;
00059         JntArray deriv()const;
00060 
00061         friend void Add(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest);
00062         friend void Add(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest);
00063         friend void Subtract(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest);
00064         friend void Subtract(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest);
00065         friend void Multiply(const JntArrayVel& src,const double& factor,JntArrayVel& dest);
00066         friend void Multiply(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest);
00067         friend void Divide(const JntArrayVel& src,const double& factor,JntArrayVel& dest);
00068         friend void Divide(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest);
00069         friend void SetToZero(JntArrayVel& array);
00070         friend bool Equal(const JntArrayVel& src1,const JntArrayVel& src2,double eps);
00071 
00072     };
00073 
00074 }
00075 
00076 #endif