26 using namespace Eigen;
57 data.conservativeResizeLike(VectorXd::Zero(newSize));
104 Eigen::Matrix<double,6,1> t=jac.
data.lazyProduct(src.
data);
110 array.
data.setZero();
117 return (src1.
data-src2.
data).isZero(eps);
friend void MultiplyJacobian(const Jacobian &jac, const JntArray &src, Twist &dest)
unsigned int rows() const
friend void Add(const JntArray &src1, const JntArray &src2, JntArray &dest)
friend void SetToZero(JntArray &array)
This class represents an fixed size array containing joint values of a KDL::Chain.
double operator()(unsigned int i, unsigned int j=0) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix< double, 6, Eigen::Dynamic > data
represents both translational and rotational velocities.
A concrete implementation of a 3 dimensional vector class.
unsigned int columns() const
friend void Multiply(const JntArray &src, const double &factor, JntArray &dest)
void resize(unsigned int newSize)
friend void Subtract(const JntArray &src1, const JntArray &src2, JntArray &dest)
JntArray & operator=(const JntArray &arg)
friend bool operator==(const JntArray &src1, const JntArray &src2)
friend bool Equal(const JntArray &src1, const JntArray &src2, double eps)
friend void Divide(const JntArray &src, const double &factor, JntArray &dest)