KDL Namespace Reference

Classes
class	ArticulatedBodyInertia
class	Chain
class	ChainDynParam
class	ChainFdSolver
class	ChainFdSolver_RNE
class	ChainFkSolverAcc
class	ChainFkSolverPos
class	ChainFkSolverPos_recursive
class	ChainFkSolverVel
class	ChainFkSolverVel_recursive
class	ChainIdSolver
class	ChainIdSolver_RNE
class	ChainIdSolver_Vereshchagin
class	ChainIkSolverAcc
class	ChainIkSolverPos
class	ChainIkSolverPos_LMA
class	ChainIkSolverPos_LMA_JL_Mimic
class	ChainIkSolverPos_NR
class	ChainIkSolverPos_NR_JL
class	ChainIkSolverPos_NR_JL_Mimic
class	ChainIkSolverVel
class	ChainIkSolverVel_pinv
class	ChainIkSolverVel_pinv_givens
class	ChainIkSolverVel_pinv_mimic
class	ChainIkSolverVel_pinv_nso
class	ChainIkSolverVel_wdls
class	ChainJntToJacDotSolver
class	ChainJntToJacSolver
class	checkBinary
class	checkBinary_displ
class	checkBinaryVel
class	checkUnary
class	checkUnaryVel
class	Error
class	Error_BasicIO
class	Error_BasicIO_Exp_Delim
class	Error_BasicIO_File
class	Error_BasicIO_Not_A_Space
class	Error_BasicIO_Not_Opened
class	Error_BasicIO_ToBig
class	Error_BasicIO_Unexpected
class	Error_Chain_Unexpected_id
class	Error_ChainIO
class	Error_Criterium
class	Error_Criterium_Unexpected_id
class	Error_Frame_Frame_Unexpected_id
class	Error_Frame_Rotation_Unexpected_id
class	Error_Frame_Vector_Unexpected_id
class	Error_FrameIO
class	Error_Integrator
class	Error_IO
class	Error_Limits
class	Error_Limits_Unexpected_id
class	Error_MotionIO
class	Error_MotionIO_Unexpected_MotProf
class	Error_MotionIO_Unexpected_Traj
class	Error_MotionPlanning
class	Error_MotionPlanning_Circle_No_Plane
class	Error_MotionPlanning_Circle_ToSmall
class	Error_MotionPlanning_Incompatible
class	Error_MotionPlanning_Not_Applicable
class	Error_MotionPlanning_Not_Feasible
class	Error_Not_Implemented
class	Error_Redundancy
class	Error_Redundancy_Illegal_Resolutiontype
class	Error_Redundancy_Low_Manip
class	Error_Redundancy_Unavoidable
class	Error_RedundancyIO
class	Error_Stepsize_To_Small
class	Error_Stepsize_Underflow
class	Error_To_Many_Steps
class	Frame
class	Frame2
class	FrameAcc
class	FrameVel
class	Jacobian
class	JntArray
class	JntArrayAcc
class	JntArrayVel
class	Joint
class	Path
class	Path_Circle
class	Path_Composite
class	Path_Cyclic_Closed
class	Path_Line
class	Path_Point
class	Path_RoundedComposite
class	Rall1d
class	Rall2d
class	RigidBodyInertia
class	Rotation
class	Rotation2
class	RotationAcc
class	RotationalInertia
class	RotationalInterpolation
class	RotationalInterpolation_SingleAxis
class	RotationVel
class	scoped_ptr
class	Segment
class	SolverI
class	Stiffness
class	SVD_HH
class	TI
class	TI< double >
class	TI< int >
class	Trajectory
class	Trajectory_Composite
class	Trajectory_Segment
class	Trajectory_Stationary
class	Tree
class	TreeElement
class	TreeFkSolverPos
class	TreeFkSolverPos_recursive
class	TreeIdSolver
class	TreeIdSolver_RNE
class	TreeIkSolverPos
class	TreeIkSolverPos_NR_JL
class	TreeIkSolverPos_Online
class	TreeIkSolverVel
class	TreeIkSolverVel_wdls
class	TreeJntToJacSolver
class	Twist
class	TwistAcc
class	TwistVel
class	Vector
class	Vector2
class	VectorAcc
class	VectorVel
class	VelocityProfile
class	VelocityProfile_Dirac
class	VelocityProfile_Rectangular
class	VelocityProfile_Spline
class	VelocityProfile_Trap
class	VelocityProfile_TrapHalf
class	Wrench

Typedefs
typedef Rall2d< double, double, double >	doubleAcc
typedef Rall1d< double >	doubleVel
typedef std::map< std::string, Frame >	Frames
typedef std::map< std::string, Jacobian >	Jacobians
typedef std::map< std::string, TreeElement >	SegmentMap
typedef TreeElement	TreeElementType
typedef std::map< std::string, Twist >	Twists
typedef std::vector< Wrench >	Wrenches
typedef std::map< std::string, Wrench >	WrenchMap

Functions
void	_check_istream (std::istream &is)
INLINE Rall1d< T, V, S >	abs (const Rall1d< T, V, S > &x)
INLINE Rall2d< T, V, S >	abs (const Rall2d< T, V, S > &x)
double	acos (double a)
INLINE Rall1d< T, V, S >	acos (const Rall1d< T, V, S > &x)
INLINE Rall2d< T, V, S >	acos (const Rall2d< T, V, S > &arg)
void	Add (const JntArrayVel &src1, const JntArray &src2, JntArrayVel &dest)
void	Add (const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
void	Add (const JntArrayAcc &src1, const JntArrayVel &src2, JntArrayAcc &dest)
void	Add (const JntArrayAcc &src1, const JntArray &src2, JntArrayAcc &dest)
void	Add (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2, JntSpaceInertiaMatrix &dest)
void	Add (const JntArray &src1, const JntArray &src2, JntArray &dest)
void	Add (const JntArrayVel &src1, const JntArrayVel &src2, JntArrayVel &dest)
IMETHOD VectorVel	addDelta (const VectorVel &a, const VectorVel &da, double dt=1.0)
IMETHOD RotationVel	addDelta (const RotationVel &a, const VectorVel &da, double dt=1.0)
IMETHOD FrameVel	addDelta (const FrameVel &a, const TwistVel &da, double dt=1.0)
IMETHOD Vector	addDelta (const Vector &p_w_a, const Vector &p_w_da, double dt=1)
IMETHOD Rotation	addDelta (const Rotation &R_w_a, const Vector &da_w, double dt=1)
IMETHOD Frame	addDelta (const Frame &F_w_a, const Twist &da_w, double dt=1)
IMETHOD Twist	addDelta (const Twist &a, const Twist &da, double dt=1)
IMETHOD Wrench	addDelta (const Wrench &a, const Wrench &da, double dt=1)
IMETHOD doubleVel	addDelta (const doubleVel &a, const doubleVel &da, double dt=1.0)
double	addDelta (double a, double da, double dt)
double	asin (double a)
INLINE Rall1d< T, V, S >	asin (const Rall1d< T, V, S > &x)
INLINE Rall2d< T, V, S >	asin (const Rall2d< T, V, S > &arg)
double	atan (double a)
INLINE Rall1d< T, V, S >	atan (const Rall1d< T, V, S > &x)
INLINE Rall2d< T, V, S >	atan (const Rall2d< T, V, S > &x)
INLINE Rall2d< T, V, S >	atan2 (const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x)
double	atan2 (double a, double b)
INLINE Rall1d< T, V, S >	atan2 (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
bool	changeBase (const Jacobian &src1, const Rotation &rot, Jacobian &dest)
bool	changeRefFrame (const Jacobian &src1, const Frame &frame, Jacobian &dest)
bool	changeRefPoint (const Jacobian &src1, const Vector &base_AB, Jacobian &dest)
void	checkDiffs ()
void	checkDoubleOps ()
void	checkEqual (const T &a, const T &b, double eps)
void	checkEulerZYX ()
void	checkFrameOps ()
void	checkFrameVelOps ()
double	cos (double a)
INLINE Rall1d< T, V, S >	cos (const Rall1d< T, V, S > &arg)
INLINE Rall2d< T, V, S >	cos (const Rall2d< T, V, S > &arg)
double	cosh (double a)
INLINE Rall1d< T, V, S >	cosh (const Rall1d< T, V, S > &arg)
INLINE Rall2d< T, V, S >	cosh (const Rall2d< T, V, S > &arg)
Chain	d2 ()
Chain	d6 ()
IMETHOD doubleVel	diff (const doubleVel &a, const doubleVel &b, double dt=1.0)
double	diff (double a, double b, double dt)
IMETHOD VectorVel	diff (const VectorVel &a, const VectorVel &b, double dt=1.0)
IMETHOD VectorVel	diff (const RotationVel &a, const RotationVel &b, double dt=1.0)
IMETHOD TwistVel	diff (const FrameVel &a, const FrameVel &b, double dt=1.0)
IMETHOD Vector	diff (const Vector &p_w_a, const Vector &p_w_b, double dt=1)
IMETHOD Vector	diff (const Rotation &R_a_b1, const Rotation &R_a_b2, double dt=1)
IMETHOD Twist	diff (const Frame &F_a_b1, const Frame &F_a_b2, double dt=1)
IMETHOD Twist	diff (const Twist &a, const Twist &b, double dt=1)
IMETHOD Wrench	diff (const Wrench &W_a_p1, const Wrench &W_a_p2, double dt=1)
void	Divide (const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
void	Divide (const JntArrayAcc &src, const doubleVel &factor, JntArrayAcc &dest)
void	Divide (const JntArrayAcc &src, const doubleAcc &factor, JntArrayAcc &dest)
void	Divide (const JntArrayVel &src, const double &factor, JntArrayVel &dest)
void	Divide (const JntSpaceInertiaMatrix &src, const double &factor, JntSpaceInertiaMatrix &dest)
void	Divide (const JntArray &src, const double &factor, JntArray &dest)
void	Divide (const JntArrayVel &src, const doubleVel &factor, JntArrayVel &dest)
doubleAcc	dot (const VectorAcc &lhs, const VectorAcc &rhs)
doubleAcc	dot (const VectorAcc &lhs, const Vector &rhs)
doubleAcc	dot (const Vector &lhs, const VectorAcc &rhs)
IMETHOD doubleVel	dot (const VectorVel &lhs, const VectorVel &rhs)
IMETHOD doubleVel	dot (const VectorVel &lhs, const Vector &rhs)
IMETHOD doubleVel	dot (const Vector &lhs, const VectorVel &rhs)
IMETHOD double	dot (const Vector &lhs, const Vector &rhs)
IMETHOD double	dot (const Twist &lhs, const Wrench &rhs)
IMETHOD double	dot (const Wrench &rhs, const Twist &lhs)
void	Eat (std::istream &is, int delim)
void	Eat (std::istream &is, const char *descript)
void	EatEnd (std::istream &is, int delim)
void	EatWord (std::istream &is, const char *delim, char *storage, int maxsize)
IMETHOD bool	Equal (const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
IMETHOD bool	Equal (const Frame &r1, const FrameAcc &r2, double eps=epsilon)
IMETHOD bool	Equal (const FrameAcc &r1, const Frame &r2, double eps=epsilon)
IMETHOD bool	Equal (const RotationAcc &r1, const RotationAcc &r2, double eps=epsilon)
IMETHOD bool	Equal (const Rotation &r1, const RotationAcc &r2, double eps=epsilon)
IMETHOD bool	Equal (const RotationAcc &r1, const Rotation &r2, double eps=epsilon)
IMETHOD bool	Equal (const TwistAcc &a, const TwistAcc &b, double eps=epsilon)
IMETHOD bool	Equal (const Twist &a, const TwistAcc &b, double eps=epsilon)
IMETHOD bool	Equal (const TwistAcc &a, const Twist &b, double eps=epsilon)
IMETHOD bool	Equal (const VectorAcc &r1, const VectorAcc &r2, double eps=epsilon)
IMETHOD bool	Equal (const Vector &r1, const VectorAcc &r2, double eps=epsilon)
IMETHOD bool	Equal (const VectorAcc &r1, const Vector &r2, double eps=epsilon)
IMETHOD bool	Equal (const VectorVel &r1, const VectorVel &r2, double eps=epsilon)
IMETHOD bool	Equal (const Vector &r1, const VectorVel &r2, double eps=epsilon)
IMETHOD bool	Equal (const VectorVel &r1, const Vector &r2, double eps=epsilon)
IMETHOD bool	Equal (const RotationVel &r1, const RotationVel &r2, double eps=epsilon)
IMETHOD bool	Equal (const Rotation &r1, const RotationVel &r2, double eps=epsilon)
IMETHOD bool	Equal (const RotationVel &r1, const Rotation &r2, double eps=epsilon)
IMETHOD bool	Equal (const FrameVel &r1, const FrameVel &r2, double eps=epsilon)
IMETHOD bool	Equal (const Frame &r1, const FrameVel &r2, double eps=epsilon)
IMETHOD bool	Equal (const FrameVel &r1, const Frame &r2, double eps=epsilon)
IMETHOD bool	Equal (const TwistVel &a, const TwistVel &b, double eps=epsilon)
IMETHOD bool	Equal (const Twist &a, const TwistVel &b, double eps=epsilon)
IMETHOD bool	Equal (const TwistVel &a, const Twist &b, double eps=epsilon)
bool	Equal (const JntArrayVel &src1, const JntArrayVel &src2, double eps)
bool	Equal (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2, double eps)
bool	Equal (const JntArray &src1, const JntArray &src2, double eps)
bool	Equal (const Jacobian &a, const Jacobian &b, double eps)
bool	Equal (const Vector &a, const Vector &b, double eps=epsilon)
bool	Equal (const Frame &a, const Frame &b, double eps=epsilon)
bool	Equal (const Twist &a, const Twist &b, double eps=epsilon)
bool	Equal (const Wrench &a, const Wrench &b, double eps=epsilon)
bool	Equal (const Vector2 &a, const Vector2 &b, double eps=epsilon)
bool	Equal (const Rotation2 &a, const Rotation2 &b, double eps=epsilon)
bool	Equal (const Frame2 &a, const Frame2 &b, double eps=epsilon)
bool	Equal (const Rotation &a, const Rotation &b, double eps)
bool	Equal (const JntArrayAcc &src1, const JntArrayAcc &src2, double eps)
bool	Equal (double a, double b, double eps=epsilon)
INLINE bool	Equal (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x, double eps=epsilon)
INLINE bool	Equal (const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x, double eps=epsilon)
double	exp (double a)
INLINE Rall1d< T, V, S >	exp (const Rall1d< T, V, S > &arg)
INLINE Rall2d< T, V, S >	exp (const Rall2d< T, V, S > &arg)
static void	generatePowers (int n, double x, double *powers)
INLINE Rall1d< T, V, S >	hypot (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
INLINE Rall2d< T, V, S >	hypot (const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x)
void	IOTrace (const std::string &description)
void	IOTraceOutput (std::ostream &os)
void	IOTracePop ()
void	IOTracePopStr (char *buffer, int size)
Chain	KukaLWR ()
Chain	KukaLWR_DHnew ()
Chain	KukaLWRsegment ()
int	ldl_solver_eigen (const Eigen::MatrixXd &A, const Eigen::VectorXd &v, Eigen::MatrixXd &L, Eigen::VectorXd &D, Eigen::VectorXd &vtmp, Eigen::VectorXd &q)
double	LinComb (double alfa, double a, double beta, double b)
INLINE Rall1d< T, V, S >	LinComb (S alfa, const Rall1d< T, V, S > &a, const T &beta, const Rall1d< T, V, S > &b)
INLINE Rall2d< T, V, S >	LinComb (S alfa, const Rall2d< T, V, S > &a, const T &beta, const Rall2d< T, V, S > &b)
void	LinCombR (double alfa, double a, double beta, double b, double &result)
INLINE void	LinCombR (S alfa, const Rall1d< T, V, S > &a, const T &beta, const Rall1d< T, V, S > &b, Rall1d< T, V, S > &result)
INLINE void	LinCombR (S alfa, const Rall2d< T, V, S > &a, const T &beta, const Rall2d< T, V, S > &b, Rall2d< T, V, S > &result)
double	log (double a)
INLINE Rall1d< T, V, S >	log (const Rall1d< T, V, S > &arg)
INLINE Rall2d< T, V, S >	log (const Rall2d< T, V, S > &arg)
double	max (double a, double b)
double	min (double a, double b)
void	Multiply (const JntArrayVel &src, const double &factor, JntArrayVel &dest)
void	Multiply (const JntArrayVel &src, const doubleVel &factor, JntArrayVel &dest)
void	Multiply (const JntSpaceInertiaMatrix &src, const double &factor, JntSpaceInertiaMatrix &dest)
void	Multiply (const JntArray &src, const double &factor, JntArray &dest)
void	Multiply (const JntSpaceInertiaMatrix &src, const JntArray &vec, JntArray &dest)
void	Multiply (const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
void	Multiply (const JntArrayAcc &src, const doubleVel &factor, JntArrayAcc &dest)
void	Multiply (const JntArrayAcc &src, const doubleAcc &factor, JntArrayAcc &dest)
void	MultiplyJacobian (const Jacobian &jac, const JntArray &src, Twist &dest)
double	Norm (double arg)
INLINE S	Norm (const Rall1d< T, V, S > &value)
INLINE S	Norm (const Rall2d< T, V, S > &value)
bool	operator!= (const FrameVel &r1, const FrameVel &r2)
bool	operator!= (const Frame &r1, const FrameVel &r2)
bool	operator!= (const FrameVel &r1, const Frame &r2)
bool	operator!= (const VectorVel &r1, const VectorVel &r2)
bool	operator!= (const Vector &r1, const VectorVel &r2)
bool	operator!= (const VectorVel &r1, const Vector &r2)
bool	operator!= (const RotationVel &r1, const RotationVel &r2)
bool	operator!= (const Rotation &r1, const RotationVel &r2)
bool	operator!= (const RotationVel &r1, const Rotation &r2)
bool	operator!= (const TwistVel &a, const TwistVel &b)
bool	operator!= (const Twist &r1, const TwistVel &r2)
INLINE bool	operator!= (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
bool	operator!= (const TwistVel &r1, const Twist &r2)
INLINE bool	operator!= (const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x)
IMETHOD bool	operator!= (const Frame &a, const Frame &b)
IMETHOD bool	operator!= (const Vector &a, const Vector &b)
IMETHOD bool	operator!= (const Twist &a, const Twist &b)
IMETHOD bool	operator!= (const Wrench &a, const Wrench &b)
IMETHOD bool	operator!= (const Rotation &a, const Rotation &b)
IMETHOD bool	operator!= (const Vector2 &a, const Vector2 &b)
FrameVel	operator* (const FrameVel &lhs, const FrameVel &rhs)
FrameVel	operator* (const FrameVel &lhs, const Frame &rhs)
FrameVel	operator* (const Frame &lhs, const FrameVel &rhs)
RigidBodyInertia	operator* (double a, const RigidBodyInertia &I)
RotationalInertia	operator* (double a, const RotationalInertia &I)
ArticulatedBodyInertia	operator* (double a, const ArticulatedBodyInertia &I)
Wrench	operator* (const RigidBodyInertia &I, const Twist &t)
VectorAcc	operator* (const VectorAcc &r1, const VectorAcc &r2)
RigidBodyInertia	operator* (const Frame &T, const RigidBodyInertia &I)
VectorAcc	operator* (const VectorAcc &r1, const Vector &r2)
VectorAcc	operator* (const Vector &r1, const VectorAcc &r2)
Wrench	operator* (const ArticulatedBodyInertia &I, const Twist &t)
VectorAcc	operator* (double r1, const VectorAcc &r2)
RigidBodyInertia	operator* (const Rotation &M, const RigidBodyInertia &I)
VectorAcc	operator* (const VectorAcc &r1, double r2)
ArticulatedBodyInertia	operator* (const Frame &T, const ArticulatedBodyInertia &I)
VectorAcc	operator* (const doubleAcc &r1, const VectorAcc &r2)
Wrench	operator* (const Stiffness &s, const Twist &t)
Vector	operator* (const Vector &lhs, double rhs)
VectorAcc	operator* (const VectorAcc &r2, const doubleAcc &r1)
ArticulatedBodyInertia	operator* (const Rotation &M, const ArticulatedBodyInertia &I)
Vector	operator* (double lhs, const Vector &rhs)
Vector	operator* (const Vector &lhs, const Vector &rhs)
RotationVel	operator* (const RotationVel &r1, const RotationVel &r2)
RotationVel	operator* (const Rotation &r1, const RotationVel &r2)
RotationVel	operator* (const RotationVel &r1, const Rotation &r2)
Rotation	operator* (const Rotation &lhs, const Rotation &rhs)
RotationAcc	operator* (const RotationAcc &r1, const RotationAcc &r2)
RotationAcc	operator* (const Rotation &r1, const RotationAcc &r2)
RotationAcc	operator* (const RotationAcc &r1, const Rotation &r2)
INLINE Rall1d< T, V, S >	operator* (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
INLINE Rall2d< T, V, S >	operator* (const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
Wrench	operator* (const Wrench &lhs, double rhs)
INLINE Rall1d< T, V, S >	operator* (S s, const Rall1d< T, V, S > &v)
Wrench	operator* (double lhs, const Wrench &rhs)
INLINE Rall1d< T, V, S >	operator* (const Rall1d< T, V, S > &v, S s)
VectorAcc	operator* (const Rotation &R, const VectorAcc &x)
INLINE Rall2d< T, V, S >	operator* (S s, const Rall2d< T, V, S > &v)
INLINE Rall2d< T, V, S >	operator* (const Rall2d< T, V, S > &v, S s)
VectorVel	operator* (const VectorVel &r1, const VectorVel &r2)
VectorVel	operator* (const VectorVel &r1, const Vector &r2)
VectorVel	operator* (const Vector &r1, const VectorVel &r2)
VectorVel	operator* (double r1, const VectorVel &r2)
VectorVel	operator* (const VectorVel &r1, double r2)
VectorVel	operator* (const doubleVel &r1, const VectorVel &r2)
VectorVel	operator* (const VectorVel &r2, const doubleVel &r1)
VectorVel	operator* (const Rotation &R, const VectorVel &x)
TwistVel	operator* (const doubleVel &lhs, const TwistVel &rhs)
Twist	operator* (const Twist &lhs, double rhs)
FrameAcc	operator* (const FrameAcc &lhs, const FrameAcc &rhs)
Twist	operator* (double lhs, const Twist &rhs)
TwistAcc	operator* (const doubleAcc &lhs, const TwistAcc &rhs)
FrameAcc	operator* (const FrameAcc &lhs, const Frame &rhs)
FrameAcc	operator* (const Frame &lhs, const FrameAcc &rhs)
Twist	operator* (const Twist &lhs, const Twist &rhs)
Wrench	operator* (const Twist &lhs, const Wrench &rhs)
Frame	operator* (const Frame &lhs, const Frame &rhs)
TwistAcc	operator* (const TwistAcc &lhs, double rhs)
TwistAcc	operator* (double lhs, const TwistAcc &rhs)
TwistAcc	operator* (const TwistAcc &lhs, const doubleAcc &rhs)
TwistVel	operator* (const TwistVel &lhs, double rhs)
TwistVel	operator* (double lhs, const TwistVel &rhs)
TwistVel	operator* (const TwistVel &lhs, const doubleVel &rhs)
IMETHOD Vector2	operator* (const Vector2 &lhs, double rhs)
IMETHOD Vector2	operator* (double lhs, const Vector2 &rhs)
IMETHOD Rotation2	operator* (const Rotation2 &lhs, const Rotation2 &rhs)
IMETHOD Frame2	operator* (const Frame2 &lhs, const Frame2 &rhs)
VectorVel	operator+ (const VectorVel &r1, const VectorVel &r2)
VectorVel	operator+ (const VectorVel &r1, const Vector &r2)
Wrench	operator+ (const Wrench &lhs, const Wrench &rhs)
INLINE Rall1d< T, V, S >	operator+ (S s, const Rall1d< T, V, S > &v)
VectorVel	operator+ (const Vector &r1, const VectorVel &r2)
INLINE Rall1d< T, V, S >	operator+ (const Rall1d< T, V, S > &v, S s)
INLINE Rall2d< T, V, S >	operator+ (S s, const Rall2d< T, V, S > &v)
Twist	operator+ (const Twist &lhs, const Twist &rhs)
TwistAcc	operator+ (const TwistAcc &lhs, const TwistAcc &rhs)
TwistVel	operator+ (const TwistVel &lhs, const TwistVel &rhs)
IMETHOD Vector2	operator+ (const Vector2 &lhs, const Vector2 &rhs)
INLINE Rall2d< T, V, S >	operator+ (const Rall2d< T, V, S > &v, S s)
ArticulatedBodyInertia	operator+ (const RigidBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
INLINE Rall2d< T, V, S >	operator+ (const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
RigidBodyInertia	operator+ (const RigidBodyInertia &Ia, const RigidBodyInertia &Ib)
VectorAcc	operator+ (const VectorAcc &r1, const VectorAcc &r2)
VectorAcc	operator+ (const Vector &r1, const VectorAcc &r2)
VectorAcc	operator+ (const VectorAcc &r1, const Vector &r2)
ArticulatedBodyInertia	operator+ (const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
RotationalInertia	operator+ (const RotationalInertia &Ia, const RotationalInertia &Ib)
IMETHOD Vector	operator+ (const Vector &lhs, const Vector &rhs)
Stiffness	operator+ (const Stiffness &s1, const Stiffness &s2)
ArticulatedBodyInertia	operator+ (const ArticulatedBodyInertia &Ia, const RigidBodyInertia &Ib)
INLINE Rall1d< T, V, S >	operator+ (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
VectorAcc	operator- (const VectorAcc &r1, const VectorAcc &r2)
VectorAcc	operator- (const Vector &r1, const VectorAcc &r2)
VectorAcc	operator- (const VectorAcc &r1, const Vector &r2)
ArticulatedBodyInertia	operator- (const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
ArticulatedBodyInertia	operator- (const RigidBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
IMETHOD Vector	operator- (const Vector &lhs, const Vector &rhs)
ArticulatedBodyInertia	operator- (const ArticulatedBodyInertia &Ia, const RigidBodyInertia &Ib)
INLINE Rall1d< T, V, S >	operator- (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
INLINE Rall1d< T, V, S >	operator- (const Rall1d< T, V, S > &arg)
VectorVel	operator- (const VectorVel &r1, const VectorVel &r2)
INLINE Rall2d< T, V, S >	operator- (const Rall2d< T, V, S > &arg)
VectorVel	operator- (const VectorVel &r1, const Vector &r2)
Wrench	operator- (const Wrench &lhs, const Wrench &rhs)
Wrench	operator- (const Wrench &arg)
VectorVel	operator- (const VectorVel &r)
INLINE Rall1d< T, V, S >	operator- (S s, const Rall1d< T, V, S > &v)
INLINE Rall2d< T, V, S >	operator- (S s, const Rall2d< T, V, S > &v)
INLINE Rall2d< T, V, S >	operator- (const Rall2d< T, V, S > &v, S s)
Twist	operator- (const Twist &lhs, const Twist &rhs)
Twist	operator- (const Twist &arg)
Vector	operator- (const Vector &arg)
TwistAcc	operator- (const TwistAcc &lhs, const TwistAcc &rhs)
TwistAcc	operator- (const TwistAcc &arg)
TwistVel	operator- (const TwistVel &arg)
IMETHOD Vector2	operator- (const Vector2 &lhs, const Vector2 &rhs)
IMETHOD Vector2	operator- (const Vector2 &arg)
TwistVel	operator- (const TwistVel &lhs, const TwistVel &rhs)
VectorVel	operator- (const Vector &r1, const VectorVel &r2)
INLINE Rall1d< T, V, S >	operator- (const Rall1d< T, V, S > &v, S s)
INLINE Rall2d< T, V, S >	operator- (const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
VectorAcc	operator- (const VectorAcc &r)
TwistVel	operator/ (const TwistVel &lhs, const doubleVel &rhs)
VectorAcc	operator/ (const VectorAcc &r1, double r2)
VectorAcc	operator/ (const VectorAcc &r2, const doubleAcc &r1)
INLINE Rall1d< T, V, S >	operator/ (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
INLINE Rall2d< T, V, S >	operator/ (S s, const Rall2d< T, V, S > &rhs)
Wrench	operator/ (const Wrench &lhs, double rhs)
IMETHOD Vector2	operator/ (const Vector2 &lhs, double rhs)
TwistVel	operator/ (const TwistVel &lhs, double rhs)
INLINE Rall1d< T, V, S >	operator/ (S s, const Rall1d< T, V, S > &v)
INLINE Rall1d< T, V, S >	operator/ (const Rall1d< T, V, S > &v, S s)
TwistAcc	operator/ (const TwistAcc &lhs, const doubleAcc &rhs)
INLINE Rall2d< T, V, S >	operator/ (const Rall2d< T, V, S > &v, S s)
VectorVel	operator/ (const VectorVel &r2, const doubleVel &r1)
Twist	operator/ (const Twist &lhs, double rhs)
TwistAcc	operator/ (const TwistAcc &lhs, double rhs)
VectorVel	operator/ (const VectorVel &r1, double r2)
Vector	operator/ (const Vector &lhs, double rhs)
INLINE Rall2d< T, V, S >	operator/ (const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
std::ostream &	operator<< (std::ostream &os, const Twist &v)
std::ostream &	operator<< (std::ostream &os, const Rotation &R)
std::ostream &	operator<< (std::ostream &os, const FrameAcc &r)
std::ostream &	operator<< (std::ostream &os, const Tree &tree)
std::ostream &	operator<< (std::ostream &os, const Rall2d< T, V, S > &r)
std::ostream &	operator<< (std::ostream &os, const FrameVel &r)
std::ostream &	operator<< (std::ostream &os, const Vector &v)
std::ostream &	operator<< (std::ostream &os, const RotationVel &r)
std::ostream &	operator<< (std::ostream &os, const Rall1d< T, V, S > &r)
std::ostream &	operator<< (std::ostream &os, const VectorVel &r)
std::ostream &	operator<< (std::ostream &os, const VectorAcc &r)
std::ostream &	operator<< (std::ostream &os, const RotationAcc &r)
std::ostream &	operator<< (std::ostream &os, const TwistVel &r)
std::ostream &	operator<< (std::ostream &os, const TwistAcc &r)
std::ostream &	operator<< (std::ostream &os, const Joint &joint)
std::ostream &	operator<< (std::ostream &os, const JntArray &array)
std::ostream &	operator<< (std::ostream &os, const Jacobian &jac)
std::ostream &	operator<< (std::ostream &os, const JntSpaceInertiaMatrix &jntspaceinertiamatrix)
std::ostream &	operator<< (std::ostream &os, const Vector2 &v)
std::ostream &	operator<< (std::ostream &os, const Segment &segment)
std::ostream &	operator<< (std::ostream &os, const Chain &chain)
std::ostream &	operator<< (std::ostream &os, const Wrench &v)
std::ostream &	operator<< (std::ostream &os, SegmentMap::const_iterator root)
std::ostream &	operator<< (std::ostream &os, const Rotation2 &R)
std::ostream &	operator<< (std::ostream &os, const Frame2 &T)
std::ostream &	operator<< (std::ostream &os, const Frame &T)
bool	operator== (const RotationVel &r1, const Rotation &r2)
bool	operator== (const TwistVel &r1, const Twist &r2)
bool	operator== (const Frame &r1, const FrameVel &r2)
bool	operator== (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2)
bool	operator== (const VectorVel &r1, const VectorVel &r2)
bool	operator== (const Rotation &r1, const RotationVel &r2)
bool	operator== (const Rotation &a, const Rotation &b)
bool	operator== (const Twist &a, const TwistVel &b)
IMETHOD bool	operator== (const Frame &a, const Frame &b)
bool	operator== (const FrameVel &r1, const Frame &r2)
IMETHOD bool	operator== (const Twist &a, const Twist &b)
IMETHOD bool	operator== (const Vector2 &a, const Vector2 &b)
IMETHOD bool	operator== (const Wrench &a, const Wrench &b)
INLINE bool	operator== (const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x)
IMETHOD bool	operator== (const Vector &a, const Vector &b)
bool	operator== (const TwistVel &a, const TwistVel &b)
INLINE bool	operator== (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
bool	operator== (const VectorVel &r1, const Vector &r2)
bool	operator== (const RotationVel &r1, const RotationVel &r2)
bool	operator== (const Vector &r1, const VectorVel &r2)
bool	operator== (const JntArray &src1, const JntArray &src2)
bool	operator== (const FrameVel &r1, const FrameVel &r2)
std::istream &	operator>> (std::istream &is, Jacobian &jac)
std::istream &	operator>> (std::istream &is, JntArray &array)
std::istream &	operator>> (std::istream &is, Twist &v)
std::istream &	operator>> (std::istream &is, Rotation2 &r)
std::istream &	operator>> (std::istream &is, Wrench &v)
std::istream &	operator>> (std::istream &is, JntSpaceInertiaMatrix &jntspaceinertiamatrix)
std::istream &	operator>> (std::istream &is, Tree &tree)
std::istream &	operator>> (std::istream &is, Vector &v)
std::istream &	operator>> (std::istream &is, Frame &T)
std::istream &	operator>> (std::istream &is, Chain &chain)
std::istream &	operator>> (std::istream &is, Rotation &r)
std::istream &	operator>> (std::istream &is, Segment &segment)
std::istream &	operator>> (std::istream &is, Vector2 &v)
std::istream &	operator>> (std::istream &is, Frame2 &T)
std::istream &	operator>> (std::istream &is, Joint &joint)
IMETHOD void	posrandom (TwistVel &a)
IMETHOD void	posrandom (RotationVel &R)
IMETHOD void	posrandom (Wrench &a)
void	posrandom (double &a)
IMETHOD void	posrandom (FrameVel &F)
IMETHOD void	posrandom (Rotation &R)
IMETHOD void	posrandom (Twist &a)
IMETHOD void	posrandom (VectorVel &a)
IMETHOD void	posrandom (Vector &a)
IMETHOD void	posrandom (Frame &F)
IMETHOD void	posrandom (doubleVel &F)
void	posrandom (Jacobian< T > &rv)
void	posrandom (Stiffness &F)
INLINE Rall2d< T, V, S >	pow (const Rall2d< T, V, S > &arg, double m)
INLINE Rall1d< T, V, S >	pow (const Rall1d< T, V, S > &arg, double m)
double	pow (double a, double b)
Chain	Puma560 ()
double	PYTHAG (double a, double b)
IMETHOD void	random (TwistVel &a)
void	random (double &a)
IMETHOD void	random (FrameVel &F)
IMETHOD void	random (VectorVel &a)
IMETHOD void	random (Rotation &R)
IMETHOD void	random (Twist &a)
IMETHOD void	random (Vector &a)
IMETHOD void	random (doubleVel &F)
IMETHOD void	random (Frame &F)
IMETHOD void	random (Wrench &a)
void	random (Jacobian< T > &rv)
IMETHOD void	random (RotationVel &R)
void	random (Stiffness &F)
IMETHOD Rotation	Rot (const Vector &axis_a_b)
INLINE void	SetToIdentity (Rall2d< T, V, S > &value)
void	SetToIdentity (double &arg)
INLINE void	SetToIdentity (Rall1d< T, V, S > &value)
INLINE void	SetToZero (Rall1d< T, V, S > &value)
void	SetToZero (JntArray &array)
IMETHOD void	SetToZero (Twist &v)
void	SetToZero (JntArrayAcc &array)
void	SetToZero (JntSpaceInertiaMatrix &mat)
IMETHOD void	SetToZero (Wrench &v)
IMETHOD void	SetToZero (Vector &v)
void	SetToZero (double &arg)
INLINE void	SetToZero (Rall2d< T, V, S > &value)
void	SetToZero (TwistVel &v)
IMETHOD void	SetToZero (Vector2 &v)
void	SetToZero (Jacobian &jac)
void	SetToZero (JntArrayVel &array)
void	SetToZero (VectorVel &v)
double	SIGN (double a, double b)
double	sign (double arg)
INLINE Rall2d< T, V, S >	sin (const Rall2d< T, V, S > &arg)
double	sin (double a)
INLINE Rall1d< T, V, S >	sin (const Rall1d< T, V, S > &arg)
INLINE Rall1d< T, V, S >	sinh (const Rall1d< T, V, S > &arg)
INLINE Rall2d< T, V, S >	sinh (const Rall2d< T, V, S > &arg)
double	sinh (double a)
INLINE Rall1d< T, V, S >	sqr (const Rall1d< T, V, S > &arg)
double	sqr (double arg)
INLINE Rall2d< T, V, S >	sqr (const Rall2d< T, V, S > &arg)
INLINE Rall2d< T, V, S >	sqrt (const Rall2d< T, V, S > &arg)
double	sqrt (double a)
INLINE Rall1d< T, V, S >	sqrt (const Rall1d< T, V, S > &arg)
void	Subtract (const JntArrayVel &src1, const JntArrayVel &src2, JntArrayVel &dest)
void	Subtract (const JntArrayAcc &src1, const JntArray &src2, JntArrayAcc &dest)
void	Subtract (const JntArrayVel &src1, const JntArray &src2, JntArrayVel &dest)
void	Subtract (const JntArrayAcc &src1, const JntArrayVel &src2, JntArrayAcc &dest)
void	Subtract (const JntArray &src1, const JntArray &src2, JntArray &dest)
void	Subtract (const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
void	Subtract (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2, JntSpaceInertiaMatrix &dest)
int	svd_eigen_HH (const MatrixXd &A, MatrixXd &U, VectorXd &S, MatrixXd &V, VectorXd &tmp, int maxiter, double epsilon)
int	svd_eigen_Macie (const Eigen::MatrixXd &A, Eigen::MatrixXd &U, Eigen::VectorXd &S, Eigen::MatrixXd &V, Eigen::MatrixXd &B, Eigen::VectorXd &tempi, double threshold, bool toggle)
void	swap (scoped_ptr< T > &, scoped_ptr< T > &)
INLINE Rall1d< T, V, S >	tan (const Rall1d< T, V, S > &arg)
double	tan (double a)
INLINE Rall2d< T, V, S >	tan (const Rall2d< T, V, S > &arg)
double	tanh (double a)
INLINE Rall1d< T, V, S >	tanh (const Rall1d< T, V, S > &arg)
INLINE Rall2d< T, V, S >	tanh (const Rall2d< T, V, S > &arg)
std::string	tree2str (const Tree &tree, const std::string &separator, const std::string &preamble)
std::string	tree2str (const SegmentMap::const_iterator it, const std::string &separator, const std::string &preamble, unsigned int level)
void	Twist_to_Eigen (const KDL::Twist &t, Eigen::MatrixBase< Derived > &e)

Variables
const double	deg2rad
double	epsilon
static const double	L0
static const double	L1
static const double	L2
static const double	L3
static const double	L4
static const double	L5
int	MAXLENFILENAME
static const bool	mhi
const double	PI
const double	PI_2
const double	PI_4
const double	rad2deg
int	STREAMBUFFERSIZE
int	VSIZE