22 #ifndef KDL_JNTSPACEINERTIAMATRIX_HPP 23 #define KDL_JNTSPACEINERTIAMATRIX_HPP 70 class JntSpaceInertiaMatrix
82 JntSpaceInertiaMatrix();
93 explicit JntSpaceInertiaMatrix(
int size);
97 JntSpaceInertiaMatrix(
const JntSpaceInertiaMatrix& arg);
98 ~JntSpaceInertiaMatrix();
108 void resize(
unsigned int newSize);
110 JntSpaceInertiaMatrix& operator = (
const JntSpaceInertiaMatrix& arg);
118 double operator()(
unsigned int i,
unsigned int j)
const;
126 double& operator()(
unsigned int i,
unsigned int j);
131 unsigned int rows()
const;
135 unsigned int columns()
const;
137 friend void Add(
const JntSpaceInertiaMatrix& src1,
const JntSpaceInertiaMatrix& src2,JntSpaceInertiaMatrix& dest);
138 friend void Subtract(
const JntSpaceInertiaMatrix& src1,
const JntSpaceInertiaMatrix& src2,JntSpaceInertiaMatrix& dest);
139 friend void Multiply(
const JntSpaceInertiaMatrix& src,
const double& factor,JntSpaceInertiaMatrix& dest);
140 friend void Divide(
const JntSpaceInertiaMatrix& src,
const double& factor,JntSpaceInertiaMatrix& dest);
141 friend void Multiply(
const JntSpaceInertiaMatrix& src,
const JntArray& vec, JntArray& dest);
142 friend void SetToZero(JntSpaceInertiaMatrix& matrix);
143 friend bool Equal(
const JntSpaceInertiaMatrix& src1,
const JntSpaceInertiaMatrix& src2,
double eps);
144 friend bool operator==(
const JntSpaceInertiaMatrix& src1,
const JntSpaceInertiaMatrix& src2);
148 bool operator==(
const JntSpaceInertiaMatrix& src1,
const JntSpaceInertiaMatrix& src2);
160 void Add(
const JntSpaceInertiaMatrix& src1,
const JntSpaceInertiaMatrix& src2,JntSpaceInertiaMatrix& dest);
171 void Subtract(
const JntSpaceInertiaMatrix& src1,
const JntSpaceInertiaMatrix& src2,JntSpaceInertiaMatrix& dest);
182 void Multiply(
const JntSpaceInertiaMatrix& src,
const double& factor,JntSpaceInertiaMatrix& dest);
193 void Divide(
const JntSpaceInertiaMatrix& src,
const double& factor,JntSpaceInertiaMatrix& dest);
207 void Multiply(
const JntSpaceInertiaMatrix& src,
const JntArray& vec, JntArray& dest);
214 void SetToZero(JntSpaceInertiaMatrix& matrix);
226 bool Equal(
const JntSpaceInertiaMatrix& src1,
const JntSpaceInertiaMatrix& src2,
double eps=
epsilon);
228 bool operator==(
const JntSpaceInertiaMatrix& src1,
const JntSpaceInertiaMatrix& src2);
void Subtract(const JntArray &src1, const JntArray &src2, JntArray &dest)
void Divide(const JntArray &src, const double &factor, JntArray &dest)
void Add(const JntArray &src1, const JntArray &src2, JntArray &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.
bool operator==(const Rotation &a, const Rotation &b)
void Multiply(const JntArray &src, const double &factor, JntArray &dest)