22 #ifndef KDL_JNTARRAYACC_HPP 23 #define KDL_JNTARRAYACC_HPP 34 bool Equal(
const JntArrayAcc& src1,
const JntArrayAcc& src2,
double eps=
epsilon);
35 void Add(
const JntArrayAcc& src1,
const JntArrayAcc& src2,JntArrayAcc& dest);
36 void Add(
const JntArrayAcc& src1,
const JntArrayVel& src2,JntArrayAcc& dest);
37 void Add(
const JntArrayAcc& src1,
const JntArray& src2,JntArrayAcc& dest);
38 void Subtract(
const JntArrayAcc& src1,
const JntArrayAcc& src2,JntArrayAcc& dest);
39 void Subtract(
const JntArrayAcc& src1,
const JntArrayVel& src2,JntArrayAcc& dest);
40 void Subtract(
const JntArrayAcc& src1,
const JntArray& src2,JntArrayAcc& dest);
41 void Multiply(
const JntArrayAcc& src,
const double& factor,JntArrayAcc& dest);
44 void Divide(
const JntArrayAcc& src,
const double& factor,JntArrayAcc& dest);
45 void Divide(
const JntArrayAcc& src,
const doubleVel& factor,JntArrayAcc& dest);
46 void Divide(
const JntArrayAcc& src,
const doubleAcc& factor,JntArrayAcc& dest);
62 void resize(
unsigned int newSize);
void Subtract(const JntArray &src1, const JntArray &src2, JntArray &dest)
void Divide(const JntArray &src, const double &factor, JntArray &dest)
friend void Add(const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
void resize(unsigned int newSize)
This class represents an fixed size array containing joint values of a KDL::Chain.
void Add(const JntArray &src1, const JntArray &src2, JntArray &dest)
friend void Subtract(const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
IMETHOD void SetToZero(Vector &v)
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
double epsilon
default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001.
friend bool Equal(const JntArrayAcc &src1, const JntArrayAcc &src2, double eps)
Rall2d< double, double, double > doubleAcc
friend void SetToZero(JntArrayAcc &array)
friend void Divide(const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
friend void Multiply(const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
Rall1d< double > doubleVel
void Multiply(const JntArray &src, const double &factor, JntArray &dest)