KDL Namespace Reference

Classes
class	ArticulatedBodyInertia
	6D Inertia of a articulated body More...
class	Chain
	This class encapsulates a serial kinematic interconnection structure. It is built out of segments. More...
class	ChainDynParam
class	ChainFdSolver
	This abstract class encapsulates the inverse dynamics solver for a KDL::Chain. More...
class	ChainFdSolver_RNE
	Recursive newton euler forward dynamics solver. More...
class	ChainFkSolverAcc
	This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain. More...
class	ChainFkSolverPos
	This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain. More...
class	ChainFkSolverPos_recursive
class	ChainFkSolverVel
	This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain. More...
class	ChainFkSolverVel_recursive
class	ChainHdSolver_Vereshchagin
	Abstract: Acceleration constrained hybrid dynamics calculations for a chain, based on Vereshchagin 1989. This class creates an instance of the hybrid dynamics solver. The solver analytically calculates the joint space constraint torques and acceleration in a chain when a constraint force(s) is applied to the chain's end-effector (task space / cartesian space). In the robotics literature, this algorithm is also known under the following names: Acceleration Constrained Hybrid Dynamics (ACHD) and Popov-Vereshchagin solver. More...
class	ChainIdSolver
	This abstract class encapsulates the inverse dynamics solver for a KDL::Chain. More...
class	ChainIdSolver_RNE
	Recursive newton euler inverse dynamics solver. More...
class	ChainIdSolver_Vereshchagin
class	ChainIkSolverAcc
	This abstract class encapsulates the inverse acceleration solver for a KDL::Chain. More...
class	ChainIkSolverPos
	This abstract class encapsulates the inverse position solver for a KDL::Chain. More...
class	ChainIkSolverPos_LMA
	Solver for the inverse position kinematics that uses Levenberg-Marquardt. More...
class	ChainIkSolverPos_NR
class	ChainIkSolverPos_NR_JL
class	ChainIkSolverVel
	This abstract class encapsulates the inverse velocity solver for a KDL::Chain. More...
class	ChainIkSolverVel_pinv
class	ChainIkSolverVel_pinv_givens
class	ChainIkSolverVel_pinv_nso
class	ChainIkSolverVel_wdls
class	ChainJntToJacDotSolver
	Computes the Jacobian time derivative (Jdot) by calculating the partial derivatives regarding to a joint angle, in the Hybrid, Body-fixed or Inertial representation. More...
class	ChainJntToJacSolver
	Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers. More...
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
	Abstract subclass of all errors that can be thrown by Adaptive_Integrator. More...
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
	Error_Redundancy indicates an error that occurred during solving for redundancy. More...
class	Error_Stepsize_To_Small
	Error_Stepsize_To_Small is thrown if the stepsize becomes to small. More...
class	Error_Stepsize_Underflow
	Error_Stepsize_Underflow is thrown if the stepsize becomes to small. More...
class	Error_To_Many_Steps
class	Frame
	represents a frame transformation in 3D space (rotation + translation) More...
class	Frame2
class	FrameAcc
class	FrameVel
class	Jacobian
class	JntArray
	This class represents an fixed size array containing joint values of a KDL::Chain. More...
class	JntArrayAcc
class	JntArrayVel
class	Joint
	This class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties. More...
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
	6D Inertia of a rigid body More...
class	Rotation
	represents rotations in 3 dimensional space. More...
class	Rotation2
class	RotationAcc
class	RotationalInertia
class	RotationalInterpolation
class	RotationalInterpolation_SingleAxis
class	RotationVel
class	scoped_ptr
class	Segment
	This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body inertia) with a joint and with "handles", root and tip to connect to other segments. More...
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
	This class encapsulates a tree kinematic interconnection structure. It is built out of segments. More...
class	TreeElement
class	TreeFkSolverPos
	This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree. More...
class	TreeFkSolverPos_recursive
class	TreeIdSolver
	This abstract class encapsulates the inverse dynamics solver for a KDL::Tree. More...
class	TreeIdSolver_RNE
	Recursive newton euler inverse dynamics solver for kinematic trees. More...
class	TreeIkSolverPos
	This abstract class encapsulates the inverse position solver for a KDL::Chain. More...
class	TreeIkSolverPos_NR_JL
class	TreeIkSolverPos_Online
class	TreeIkSolverVel
	This abstract class encapsulates the inverse velocity solver for a KDL::Tree. More...
class	TreeIkSolverVel_wdls
class	TreeJntToJacSolver
class	Twist
	represents both translational and rotational velocities. More...
class	TwistAcc
class	TwistVel
class	Vector
	A concrete implementation of a 3 dimensional vector class. More...
class	Vector2
	2D version of Vector More...
class	VectorAcc
class	VectorVel
class	VelocityProfile
class	VelocityProfile_Dirac
class	VelocityProfile_Rectangular
class	VelocityProfile_Spline
	A spline VelocityProfile trajectory interpolation. More...
class	VelocityProfile_Trap
class	VelocityProfile_TrapHalf
class	Wrench
	represents both translational and rotational acceleration. More...

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)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	abs (const Rall1d< T, V, S > &x)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	abs (const Rall2d< T, V, S > &x)
double	acos (double a)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	acos (const Rall1d< T, V, S > &x)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	acos (const Rall2d< T, V, S > &arg)
void	Add (const JntArrayVel &src1, const JntArrayVel &src2, JntArrayVel &dest)
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)
IMETHOD doubleVel	addDelta (const doubleVel &a, const doubleVel &da, double dt=1.0)
double	addDelta (double a, double da, double dt)
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)
	adds vector da to vector a. see also the corresponding diff() routine. More...
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)
	adds the twist da to the twist a. see also the corresponding diff() routine. More...
IMETHOD Wrench	addDelta (const Wrench &a, const Wrench &da, double dt=1)
	adds the wrench da to the wrench w. see also the corresponding diff() routine. see also the corresponding diff() routine. More...
double	asin (double a)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	asin (const Rall1d< T, V, S > &x)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	asin (const Rall2d< T, V, S > &arg)
double	atan (double a)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	atan (const Rall1d< T, V, S > &x)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	atan (const Rall2d< T, V, S > &x)
double	atan2 (double a, double b)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	atan2 (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	atan2 (const Rall2d< T, V, S > &y, const Rall2d< 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 ()
template<typename T >
void	checkEqual (const T &a, const T &b, double eps)
void	checkEulerZYX ()
void	checkFrameOps ()
void	checkFrameVelOps ()
double	cos (double a)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	cos (const Rall1d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	cos (const Rall2d< T, V, S > &arg)
double	cosh (double a)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	cosh (const Rall1d< T, V, S > &arg)
template<class T , class V , class S >
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 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)
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)
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)
template<class T , class V , class S >
INLINE bool	Equal (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x, double eps=epsilon)
template<class T , class V , class S >
INLINE bool	Equal (const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x, double eps=epsilon)
double	exp (double a)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	exp (const Rall1d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	exp (const Rall2d< T, V, S > &arg)
static void	generatePowers (int n, double x, double *powers)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	hypot (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
template<class T , class V , class S >
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)
	outputs the IO-stack to a stream to provide a better errormessage. More...
void	IOTracePop ()
	pops a description of the IO-stack More...
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)
	Solves the system of equations Aq = v for q via LDL decomposition, where A is a square positive definite matrix. More...
double	LinComb (double alfa, double a, double beta, double b)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	LinComb (S alfa, const Rall1d< T, V, S > &a, const T &beta, const Rall1d< T, V, S > &b)
template<class T , class V , class S >
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)
template<class T , class V , class S >
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)
template<class T , class V , class S >
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)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	log (const Rall1d< T, V, S > &arg)
template<class T , class V , class S >
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)
template<class T , class V , class S >
INLINE S	Norm (const Rall1d< T, V, S > &value)
template<class T , class V , class S >
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)
template<class T , class V , class S >
INLINE bool	operator!= (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
bool	operator!= (const TwistVel &r1, const Twist &r2)
template<class T , class V , class S >
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)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator* (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
template<class T , class V , class S >
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)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator* (S s, const Rall1d< T, V, S > &v)
Wrench	operator* (double lhs, const Wrench &rhs)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator* (const Rall1d< T, V, S > &v, S s)
VectorAcc	operator* (const Rotation &R, const VectorAcc &x)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	operator* (S s, const Rall2d< T, V, S > &v)
template<class T , class V , class S >
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)
Twist	operator* (const Twist &lhs, double rhs)
FrameAcc	operator* (const FrameAcc &lhs, const FrameAcc &rhs)
Twist	operator* (double lhs, const Twist &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)
TwistAcc	operator* (const doubleAcc &lhs, const TwistAcc &rhs)
TwistVel	operator* (const TwistVel &lhs, double rhs)
TwistVel	operator* (double lhs, const TwistVel &rhs)
TwistVel	operator* (const TwistVel &lhs, const doubleVel &rhs)
TwistVel	operator* (const doubleVel &lhs, const TwistVel &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)
VectorAcc	operator+ (const VectorAcc &r1, const VectorAcc &r2)
VectorAcc	operator+ (const Vector &r1, const VectorAcc &r2)
VectorAcc	operator+ (const VectorAcc &r1, const Vector &r2)
RigidBodyInertia	operator+ (const RigidBodyInertia &Ia, const RigidBodyInertia &Ib)
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)
ArticulatedBodyInertia	operator+ (const RigidBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
Stiffness	operator+ (const Stiffness &s1, const Stiffness &s2)
ArticulatedBodyInertia	operator+ (const ArticulatedBodyInertia &Ia, const RigidBodyInertia &Ib)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator+ (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	operator+ (const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &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)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator+ (S s, const Rall1d< T, V, S > &v)
VectorVel	operator+ (const Vector &r1, const VectorVel &r2)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator+ (const Rall1d< T, V, S > &v, S s)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	operator+ (S s, const Rall2d< T, V, S > &v)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	operator+ (const Rall2d< T, V, S > &v, S s)
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)
VectorAcc	operator- (const VectorAcc &r1, const VectorAcc &r2)
VectorAcc	operator- (const Vector &r1, const VectorAcc &r2)
VectorAcc	operator- (const VectorAcc &r1, const Vector &r2)
VectorAcc	operator- (const VectorAcc &r)
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)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator- (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator- (const Rall1d< T, V, S > &arg)
VectorVel	operator- (const VectorVel &r1, const VectorVel &r2)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	operator- (const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
template<class T , class V , class S >
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)
VectorVel	operator- (const Vector &r1, const VectorVel &r2)
Wrench	operator- (const Wrench &arg)
VectorVel	operator- (const VectorVel &r)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator- (S s, const Rall1d< T, V, S > &v)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator- (const Rall1d< T, V, S > &v, S s)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	operator- (S s, const Rall2d< T, V, S > &v)
template<class T , class V , class S >
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 &lhs, const TwistVel &rhs)
TwistVel	operator- (const TwistVel &arg)
IMETHOD Vector2	operator- (const Vector2 &lhs, const Vector2 &rhs)
IMETHOD Vector2	operator- (const Vector2 &arg)
Vector	operator/ (const Vector &lhs, double rhs)
VectorAcc	operator/ (const VectorAcc &r1, double r2)
VectorAcc	operator/ (const VectorAcc &r2, const doubleAcc &r1)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator/ (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
template<class T , class V , class S >
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)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator/ (S s, const Rall1d< T, V, S > &v)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator/ (const Rall1d< T, V, S > &v, S s)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	operator/ (S s, const Rall2d< T, V, S > &rhs)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	operator/ (const Rall2d< T, V, S > &v, S s)
VectorVel	operator/ (const VectorVel &r1, double r2)
VectorVel	operator/ (const VectorVel &r2, const doubleVel &r1)
Twist	operator/ (const Twist &lhs, double rhs)
TwistAcc	operator/ (const TwistAcc &lhs, double rhs)
TwistAcc	operator/ (const TwistAcc &lhs, const doubleAcc &rhs)
TwistVel	operator/ (const TwistVel &lhs, double rhs)
TwistVel	operator/ (const TwistVel &lhs, const doubleVel &rhs)
IMETHOD Vector2	operator/ (const Vector2 &lhs, double rhs)
std::ostream &	operator<< (std::ostream &os, const Joint &joint)
template<class T , class V , class S >
std::ostream &	operator<< (std::ostream &os, const Rall1d< T, V, S > &r)
template<class T , class V , class S >
std::ostream &	operator<< (std::ostream &os, const Rall2d< 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 RotationVel &r)
std::ostream &	operator<< (std::ostream &os, const Segment &segment)
std::ostream &	operator<< (std::ostream &os, const RotationAcc &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 FrameAcc &r)
std::ostream &	operator<< (std::ostream &os, const TwistVel &r)
std::ostream &	operator<< (std::ostream &os, const Chain &chain)
std::ostream &	operator<< (std::ostream &os, const TwistAcc &r)
std::ostream &	operator<< (std::ostream &os, const Twist &v)
std::ostream &	operator<< (std::ostream &os, const Tree &tree)
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 Rotation &R)
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 Frame &T)
std::ostream &	operator<< (std::ostream &os, const Vector2 &v)
std::ostream &	operator<< (std::ostream &os, const Rotation2 &R)
std::ostream &	operator<< (std::ostream &os, const Frame2 &T)
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 JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2)
bool	operator== (const JntArray &src1, const JntArray &src2)
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 Rotation &a, const Rotation &b)
bool	operator== (const RotationVel &r1, const Rotation &r2)
bool	operator== (const TwistVel &a, const TwistVel &b)
bool	operator== (const Twist &a, const TwistVel &b)
template<class T , class V , class S >
INLINE bool	operator== (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
bool	operator== (const TwistVel &r1, const Twist &r2)
template<class T , class V , class S >
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 Vector2 &a, const Vector2 &b)
std::istream &	operator>> (std::istream &is, Joint &joint)
std::istream &	operator>> (std::istream &is, Segment &segment)
std::istream &	operator>> (std::istream &is, Chain &chain)
std::istream &	operator>> (std::istream &is, Tree &tree)
std::istream &	operator>> (std::istream &is, JntArray &array)
std::istream &	operator>> (std::istream &is, Jacobian &jac)
std::istream &	operator>> (std::istream &is, JntSpaceInertiaMatrix &jntspaceinertiamatrix)
std::istream &	operator>> (std::istream &is, Vector &v)
std::istream &	operator>> (std::istream &is, Twist &v)
std::istream &	operator>> (std::istream &is, Wrench &v)
std::istream &	operator>> (std::istream &is, Rotation &r)
std::istream &	operator>> (std::istream &is, Frame &T)
std::istream &	operator>> (std::istream &is, Vector2 &v)
std::istream &	operator>> (std::istream &is, Rotation2 &r)
std::istream &	operator>> (std::istream &is, Frame2 &T)
template<typename T >
void	posrandom (Jacobian< T > &rv)
IMETHOD void	posrandom (doubleVel &F)
void	posrandom (Stiffness &F)
void	posrandom (double &a)
IMETHOD void	posrandom (VectorVel &a)
IMETHOD void	posrandom (TwistVel &a)
IMETHOD void	posrandom (RotationVel &R)
IMETHOD void	posrandom (FrameVel &F)
IMETHOD void	posrandom (Vector &a)
IMETHOD void	posrandom (Twist &a)
IMETHOD void	posrandom (Wrench &a)
IMETHOD void	posrandom (Rotation &R)
IMETHOD void	posrandom (Frame &F)
double	pow (double a, double b)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	pow (const Rall1d< T, V, S > &arg, double m)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	pow (const Rall2d< T, V, S > &arg, double m)
Chain	Puma560 ()
double	PYTHAG (double a, double b)
template<typename T >
void	random (Jacobian< T > &rv)
IMETHOD void	random (doubleVel &F)
void	random (Stiffness &F)
void	random (double &a)
IMETHOD void	random (VectorVel &a)
IMETHOD void	random (TwistVel &a)
IMETHOD void	random (RotationVel &R)
IMETHOD void	random (FrameVel &F)
IMETHOD void	random (Vector &a)
	addDelta operator for displacement rotational velocity. More...
IMETHOD void	random (Twist &a)
IMETHOD void	random (Wrench &a)
IMETHOD void	random (Rotation &R)
IMETHOD void	random (Frame &F)
IMETHOD Rotation	Rot (const Vector &axis_a_b)
void	SetToIdentity (double &arg)
	to uniformly set double, RNDouble,Vector,... objects to the identity element in template-classes More...
template<class T , class V , class S >
INLINE void	SetToIdentity (Rall1d< T, V, S > &value)
template<class T , class V , class S >
INLINE void	SetToIdentity (Rall2d< T, V, S > &value)
void	SetToZero (Jacobian &jac)
void	SetToZero (JntArrayVel &array)
void	SetToZero (JntSpaceInertiaMatrix &mat)
void	SetToZero (JntArray &array)
void	SetToZero (JntArrayAcc &array)
void	SetToZero (double &arg)
	to uniformly set double, RNDouble,Vector,... objects to zero in template-classes More...
void	SetToZero (VectorVel &v)
template<class T , class V , class S >
INLINE void	SetToZero (Rall1d< T, V, S > &value)
template<class T , class V , class S >
INLINE void	SetToZero (Rall2d< T, V, S > &value)
void	SetToZero (TwistVel &v)
IMETHOD void	SetToZero (Vector &v)
IMETHOD void	SetToZero (Twist &v)
IMETHOD void	SetToZero (Wrench &v)
IMETHOD void	SetToZero (Vector2 &v)
double	SIGN (double a, double b)
double	sign (double arg)
double	sin (double a)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	sin (const Rall1d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	sin (const Rall2d< T, V, S > &arg)
double	sinh (double a)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	sinh (const Rall1d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	sinh (const Rall2d< T, V, S > &arg)
double	sqr (double arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	sqr (const Rall1d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	sqr (const Rall2d< T, V, S > &arg)
double	sqrt (double a)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	sqrt (const Rall1d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	sqrt (const Rall2d< T, V, S > &arg)
void	Subtract (const JntArrayVel &src1, const JntArrayVel &src2, JntArrayVel &dest)
void	Subtract (const JntArrayVel &src1, const JntArray &src2, JntArrayVel &dest)
void	Subtract (const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
void	Subtract (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2, JntSpaceInertiaMatrix &dest)
void	Subtract (const JntArray &src1, const JntArray &src2, JntArray &dest)
void	Subtract (const JntArrayAcc &src1, const JntArrayVel &src2, JntArrayAcc &dest)
void	Subtract (const JntArrayAcc &src1, const JntArray &src2, JntArrayAcc &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)
template<typename T >
void	swap (scoped_ptr< T > &, scoped_ptr< T > &)
double	tan (double a)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	tan (const Rall1d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	tan (const Rall2d< T, V, S > &arg)
double	tanh (double a)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	tanh (const Rall2d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	tanh (const Rall1d< T, V, S > &arg)
std::string	tree2str (const SegmentMap::const_iterator it, const std::string &separator, const std::string &preamble, unsigned int level)
std::string	tree2str (const Tree &tree, const std::string &separator, const std::string &preamble)
template<typename Derived >
void	Twist_to_Eigen (const KDL::Twist &t, Eigen::MatrixBase< Derived > &e)

Variables
const double	deg2rad
	the value pi/180 More...
double	epsilon
	default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001. More...
static const double	L0 = 1.0
static const double	L1 = 0.5
static const double	L2 = 0.4
static const double	L3 = 0
static const double	L4 = 0
static const double	L5 = 0
int	MAXLENFILENAME
	maximal length of a file name More...
static const bool	mhi =true
const double	PI
	the value of pi More...
const double	PI_2
	the value of pi/2 More...
const double	PI_4
	the value of pi/4 More...
const double	rad2deg
	the value 180/pi More...
int	STREAMBUFFERSIZE
int	VSIZE
	the number of derivatives used in the RN-... objects. More...

Typedef Documentation

typedef Rall2d<double,double,double> KDL::doubleAcc

Definition at line 40 of file frameacc.hpp.

typedef Rall1d<double> KDL::doubleVel

Definition at line 36 of file framevel.hpp.

typedef std::map<std::string, Frame> KDL::Frames

Definition at line 20 of file treeiksolver.hpp.

typedef std::map<std::string, Jacobian> KDL::Jacobians

Definition at line 19 of file treeiksolver.hpp.

typedef std::map<std::string,TreeElement> KDL::SegmentMap

Definition at line 39 of file tree.hpp.

typedef TreeElement KDL::TreeElementType

Definition at line 57 of file tree.hpp.

typedef std::map<std::string, Twist> KDL::Twists

Definition at line 18 of file treeiksolver.hpp.

typedef std::vector< Wrench > KDL::Wrenches

Definition at line 34 of file chainfdsolver.hpp.

typedef std::map<std::string,Wrench> KDL::WrenchMap

Definition at line 33 of file treeidsolver.hpp.

Function Documentation

void KDL::_check_istream

(

std::istream &

is

)

checks validity of basic io of is

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::abs

(

const Rall1d< T, V, S > &

x

)

Definition at line 409 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::abs

(

const Rall2d< T, V, S > &

x

)

Definition at line 465 of file rall2d.h.

double KDL::acos ( double  a )

inline

Definition at line 113 of file utility.h.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::acos

(

const Rall1d< T, V, S > &

x

)

Definition at line 401 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::acos

(

const Rall2d< T, V, S > &

arg

)

Definition at line 429 of file rall2d.h.

void KDL::Add	(	const JntArrayVel &	src1,
		const JntArrayVel &	src2,
		JntArrayVel &	dest
	)

Definition at line 57 of file jntarrayvel.cpp.

void KDL::Add	(	const JntArrayVel &	src1,
		const JntArray &	src2,
		JntArrayVel &	dest
	)

Definition at line 62 of file jntarrayvel.cpp.

void KDL::Add	(	const JntArrayAcc &	src1,
		const JntArrayAcc &	src2,
		JntArrayAcc &	dest
	)

Definition at line 66 of file jntarrayacc.cpp.

void KDL::Add	(	const JntArrayAcc &	src1,
		const JntArrayVel &	src2,
		JntArrayAcc &	dest
	)

Definition at line 72 of file jntarrayacc.cpp.

void KDL::Add	(	const JntArrayAcc &	src1,
		const JntArray &	src2,
		JntArrayAcc &	dest
	)

Definition at line 78 of file jntarrayacc.cpp.

void KDL::Add	(	const JntSpaceInertiaMatrix &	src1,
		const JntSpaceInertiaMatrix &	src2,
		JntSpaceInertiaMatrix &	dest
	)

Definition at line 81 of file jntspaceinertiamatrix.cpp.

void KDL::Add	(	const JntArray &	src1,
		const JntArray &	src2,
		JntArray &	dest
	)

Function to add two joint arrays, all the arguments must have the same size: A + B = C. This function is aliasing-safe, A or B can be the same array as C.

Parameters

src1	A
src2	B
dest	C

Definition at line 82 of file jntarray.cpp.

IMETHOD doubleVel KDL::addDelta	(	const doubleVel &	a,
		const doubleVel &	da,
		double	dt = 1.0
	)

Definition at line 42 of file framevel.hpp.

double KDL::addDelta ( double  a, double  da, double  dt  )

inline

Definition at line 288 of file utility.h.

IMETHOD VectorVel KDL::addDelta	(	const VectorVel &	a,
		const VectorVel &	da,
		double	dt = 1.0
	)

Definition at line 356 of file framevel.hpp.

IMETHOD RotationVel KDL::addDelta	(	const RotationVel &	a,
		const VectorVel &	da,
		double	dt = 1.0
	)

Definition at line 363 of file framevel.hpp.

IMETHOD FrameVel KDL::addDelta	(	const FrameVel &	a,
		const TwistVel &	da,
		double	dt = 1.0
	)

Definition at line 371 of file framevel.hpp.

IMETHOD Vector KDL::addDelta	(	const Vector &	p_w_a,
		const Vector &	p_w_da,
		double	dt = 1
	)

adds vector da to vector a. see also the corresponding diff() routine.

Parameters

p_w_a	vector a expressed to some frame w.
p_w_da	vector da expressed to some frame w.

Returns

the vector resulting from the displacement of vector a by vector da, expressed in the frame w.

Definition at line 1157 of file frames.hpp.

IMETHOD Rotation KDL::addDelta	(	const Rotation &	R_w_a,
		const Vector &	da_w,
		double	dt = 1
	)

returns the rotation matrix resulting from the rotation of frame a by the axis and angle specified with da_w.

see also the corresponding diff() routine.

Parameters

R_w_a	Rotation matrix of frame a expressed to some frame w.
da_w	axis and angle of the rotation expressed to some frame w.

Returns

the rotation matrix resulting from the rotation of frame a by the axis and angle specified with da. The resulting rotation matrix is expressed with respect to frame w.

Definition at line 1161 of file frames.hpp.

IMETHOD Frame KDL::addDelta	(	const Frame &	F_w_a,
		const Twist &	da_w,
		double	dt = 1
	)

returns the frame resulting from the rotation of frame a by the axis and angle specified in da_w and the translation of the origin (also specified in da_w).

see also the corresponding diff() routine.

Parameters

R_w_a	Rotation matrix of frame a expressed to some frame w.
da_w	axis and angle of the rotation (da_w.rot), together with a displacement vector for the origin (da_w.vel), expressed to some frame w.

Returns

the frame resulting from the rotation of frame a by the axis and angle specified with da.rot, and the translation of the origin da_w.vel . The resulting frame is expressed with respect to frame w.

Definition at line 1164 of file frames.hpp.

IMETHOD Twist KDL::addDelta	(	const Twist &	a,
		const Twist &	da,
		double	dt = 1
	)

adds the twist da to the twist a. see also the corresponding diff() routine.

Parameters

a	a twist wrt some frame
da	a twist difference wrt some frame

Returns

The twist (a+da) wrt the corresponding frame.

Definition at line 1170 of file frames.hpp.

IMETHOD Wrench KDL::addDelta	(	const Wrench &	a,
		const Wrench &	da,
		double	dt = 1
	)

adds the wrench da to the wrench w. see also the corresponding diff() routine. see also the corresponding diff() routine.

Parameters

a	a wrench wrt some frame
da	a wrench difference wrt some frame

Returns

the wrench (a+da) wrt the corresponding frame.

Definition at line 1173 of file frames.hpp.

double KDL::asin ( double  a )

inline

Definition at line 116 of file utility.h.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::asin

(

const Rall1d< T, V, S > &

x

)

Definition at line 393 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::asin

(

const Rall2d< T, V, S > &

arg

)

Definition at line 417 of file rall2d.h.

double KDL::atan ( double  a )

inline

Definition at line 110 of file utility.h.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::atan

(

const Rall1d< T, V, S > &

x

)

Definition at line 377 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::atan

(

const Rall2d< T, V, S > &

x

)

Definition at line 442 of file rall2d.h.

double KDL::atan2 ( double  a, double  b  )

inline

Definition at line 125 of file utility.h.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::atan2	(	const Rall1d< T, V, S > &	y,
		const Rall1d< T, V, S > &	x
	)

Definition at line 431 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::atan2	(	const Rall2d< T, V, S > &	y,
		const Rall2d< T, V, S > &	x
	)

Definition at line 454 of file rall2d.h.

bool KDL::changeBase	(	const Jacobian &	src1,
		const Rotation &	rot,
		Jacobian &	dest
	)

Definition at line 105 of file jacobian.cpp.

bool KDL::changeRefFrame	(	const Jacobian &	src1,
		const Frame &	frame,
		Jacobian &	dest
	)

Definition at line 119 of file jacobian.cpp.

bool KDL::changeRefPoint	(	const Jacobian &	src1,
		const Vector &	base_AB,
		Jacobian &	dest
	)

Definition at line 91 of file jacobian.cpp.

void KDL::checkDiffs

(

)

Definition at line 13 of file jacobianframetests.cpp.

void KDL::checkDoubleOps

(

)

Definition at line 6 of file jacobiandoubletests.cpp.

template<typename T >

void KDL::checkEqual ( const T &  a, const T &  b, double  eps  )

inline

Definition at line 34 of file jacobiantests.hpp.

void KDL::checkEulerZYX

(

)

Definition at line 50 of file jacobianframetests.cpp.

void KDL::checkFrameOps

(

)

Definition at line 89 of file jacobianframetests.cpp.

void KDL::checkFrameVelOps

(

)

Definition at line 132 of file jacobianframetests.cpp.

double KDL::cos ( double  a )

inline

Definition at line 89 of file utility.h.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::cos

(

const Rall1d< T, V, S > &

arg

)

Definition at line 321 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::cos

(

const Rall2d< T, V, S > &

arg

)

Definition at line 346 of file rall2d.h.

double KDL::cosh ( double  a )

inline

Definition at line 101 of file utility.h.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::cosh

(

const Rall1d< T, V, S > &

arg

)

Definition at line 345 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::cosh

(

const Rall2d< T, V, S > &

arg

)

Definition at line 370 of file rall2d.h.

Chain KDL::d2

(

)

Definition at line 18 of file jacobiandottest.cpp.

Chain KDL::d6

(

)

Definition at line 24 of file jacobiandottest.cpp.

IMETHOD doubleVel KDL::diff	(	const doubleVel &	a,
		const doubleVel &	b,
		double	dt = 1.0
	)

Definition at line 38 of file framevel.hpp.

double KDL::diff ( double  a, double  b, double  dt  )

inline

Definition at line 282 of file utility.h.

IMETHOD VectorVel KDL::diff	(	const VectorVel &	a,
		const VectorVel &	b,
		double	dt = 1.0
	)

Definition at line 352 of file framevel.hpp.

IMETHOD VectorVel KDL::diff	(	const RotationVel &	a,
		const RotationVel &	b,
		double	dt = 1.0
	)

Definition at line 359 of file framevel.hpp.

IMETHOD TwistVel KDL::diff	(	const FrameVel &	a,
		const FrameVel &	b,
		double	dt = 1.0
	)

Definition at line 367 of file framevel.hpp.

IMETHOD Vector KDL::diff	(	const Vector &	p_w_a,
		const Vector &	p_w_b,
		double	dt = 1
	)

determines the difference of vector b with vector a.

see diff for Rotation matrices for further background information.

Parameters

p_w_a	start vector a expressed to some frame w
p_w_b	end vector b expressed to some frame w .
dt	[optional][obsolete] time interval over which the numerical differentiation takes place.

Returns

the difference (b-a) expressed to the frame w.

Definition at line 1130 of file frames.hpp.

IMETHOD Vector KDL::diff	(	const Rotation &	R_a_b1,
		const Rotation &	R_a_b2,
		double	dt = 1
	)

determines the (scaled) rotation axis necessary to rotate from b1 to b2.

This rotation axis is expressed w.r.t. frame a. The rotation axis is scaled by the necessary rotation angle. The rotation angle is always in the (inclusive) interval .

This definition is chosen in this way to facilitate numerical differentiation. With this definition diff(a,b) == -diff(b,a).

The diff() function is overloaded for all classes in frames.hpp and framesvel.hpp, such that numerical differentiation, equality checks with tolerances, etc. can be performed without caring exactly on which type the operation is performed.

Parameters

R_a_b1	The rotation matrix of b1 with respect to frame a.
R_a_b2	The Rotation matrix of b2 with respect to frame a.
dt	[optional][obsolete] time interval over which the numerical differentiation takes place. By default this is set to 1.0.

Returns

rotation axis to rotate from b1 to b2, scaled by the rotation angle, expressed in frame a.

Warning

- The result is not a rotational vector, i.e. it is not a mathematical vector. (no communitative addition).

- When used in the context of numerical differentiation, with the frames b1 and b2 very close to each other, the semantics correspond to the twist, scaled by the time.

- For angles equal to , The negative of the return value is equally valid.

Definition at line 1134 of file frames.hpp.

IMETHOD Twist KDL::diff	(	const Frame &	F_a_b1,
		const Frame &	F_a_b2,
		double	dt = 1
	)

determines the rotation axis necessary to rotate the frame b1 to the same orientation as frame b2 and the vector necessary to translate the origin of b1 to the origin of b2, and stores the result in a Twist datastructure.

Parameters

F_a_b1	frame b1 expressed with respect to some frame a.
F_a_b2	frame b2 expressed with respect to some frame a.

Warning

The result is not a Twist! see diff() for Rotation and Vector arguments for further detail on the semantics.

Definition at line 1139 of file frames.hpp.

IMETHOD Twist KDL::diff	(	const Twist &	a,
		const Twist &	b,
		double	dt = 1
	)

determines the difference between two twists i.e. the difference between the underlying velocity vectors and rotational velocity vectors.

Definition at line 1145 of file frames.hpp.

IMETHOD Wrench KDL::diff	(	const Wrench &	W_a_p1,
		const Wrench &	W_a_p2,
		double	dt = 1
	)

determines the difference between two wrenches i.e. the difference between the underlying torque vectors and force vectors.

Definition at line 1149 of file frames.hpp.

void KDL::Divide	(	const JntArrayVel &	src,
		const double &	factor,
		JntArrayVel &	dest
	)

Definition at line 92 of file jntarrayvel.cpp.

void KDL::Divide	(	const JntSpaceInertiaMatrix &	src,
		const double &	factor,
		JntSpaceInertiaMatrix &	dest
	)

Definition at line 96 of file jntspaceinertiamatrix.cpp.

void KDL::Divide	(	const JntArray &	src,
		const double &	factor,
		JntArray &	dest
	)

Function to divide all the array values with a scalar factor: A/b=C. This function is aliasing-safe, A can be the same array as C.

Parameters

src	A
factor	b
dest	C

Definition at line 97 of file jntarray.cpp.

void KDL::Divide	(	const JntArrayVel &	src,
		const doubleVel &	factor,
		JntArrayVel &	dest
	)

Definition at line 97 of file jntarrayvel.cpp.

void KDL::Divide	(	const JntArrayAcc &	src,
		const double &	factor,
		JntArrayAcc &	dest
	)

Definition at line 133 of file jntarrayacc.cpp.

void KDL::Divide	(	const JntArrayAcc &	src,
		const doubleVel &	factor,
		JntArrayAcc &	dest
	)

Definition at line 139 of file jntarrayacc.cpp.

void KDL::Divide	(	const JntArrayAcc &	src,
		const doubleAcc &	factor,
		JntArrayAcc &	dest
	)

Definition at line 151 of file jntarrayacc.cpp.

doubleAcc KDL::dot	(	const VectorAcc &	lhs,
		const VectorAcc &	rhs
	)

Definition at line 138 of file frameacc.hpp.

doubleAcc KDL::dot	(	const VectorAcc &	lhs,
		const Vector &	rhs
	)

Definition at line 145 of file frameacc.hpp.

doubleAcc KDL::dot	(	const Vector &	lhs,
		const VectorAcc &	rhs
	)

Definition at line 152 of file frameacc.hpp.

IMETHOD doubleVel KDL::dot	(	const VectorVel &	lhs,
		const VectorVel &	rhs
	)

Definition at line 496 of file framevel.hpp.

IMETHOD doubleVel KDL::dot	(	const VectorVel &	lhs,
		const Vector &	rhs
	)

Definition at line 499 of file framevel.hpp.

IMETHOD doubleVel KDL::dot	(	const Vector &	lhs,
		const VectorVel &	rhs
	)

Definition at line 502 of file framevel.hpp.

IMETHOD double KDL::dot	(	const Vector &	lhs,
		const Vector &	rhs
	)

Definition at line 1013 of file frames.hpp.

IMETHOD double KDL::dot	(	const Twist &	lhs,
		const Wrench &	rhs
	)

Definition at line 1017 of file frames.hpp.

IMETHOD double KDL::dot	(	const Wrench &	rhs,
		const Twist &	lhs
	)

Definition at line 1021 of file frames.hpp.

void KDL::Eat	(	std::istream &	is,
		int	delim
	)

Eats characters of the stream until the character delim is encountered

Parameters

is	a stream
delim	eat until this character is encountered

void KDL::Eat	(	std::istream &	is,
		const char *	descript
	)

Eats characters of the stream as long as they satisfy the description in descript

Parameters

is	a stream
descript	description string. A sequence of spaces, tabs, new-lines and comments is regarded as 1 space in the description string.

void KDL::EatEnd	(	std::istream &	is,
		int	delim
	)

Eats characters of the stream until the character delim is encountered similar to Eat(is,delim) but spaces at the end are not read.

Parameters

is	a stream
delim	eat until this character is encountered

void KDL::EatWord	(	std::istream &	is,
		const char *	delim,
		char *	storage,
		int	maxsize
	)

Eats a word of the stream delimited by the letters in delim or space(tabs...)

Parameters

is	a stream
delim	a string containing the delimmiting characters
storage	for returning the word
maxsize	a word can be maximally maxsize-1 long.

bool KDL::Equal	(	const FrameAcc &	r1,
		const FrameAcc &	r2,
		double	eps = epsilon
	)

Definition at line 394 of file frameacc.hpp.

bool KDL::Equal	(	const Frame &	r1,
		const FrameAcc &	r2,
		double	eps = epsilon
	)

Definition at line 397 of file frameacc.hpp.

bool KDL::Equal	(	const FrameAcc &	r1,
		const Frame &	r2,
		double	eps = epsilon
	)

Definition at line 400 of file frameacc.hpp.

bool KDL::Equal	(	const RotationAcc &	r1,
		const RotationAcc &	r2,
		double	eps = epsilon
	)

Definition at line 324 of file frameacc.hpp.

bool KDL::Equal	(	const Rotation &	r1,
		const RotationAcc &	r2,
		double	eps = epsilon
	)

Definition at line 327 of file frameacc.hpp.

bool KDL::Equal	(	const RotationAcc &	r1,
		const Rotation &	r2,
		double	eps = epsilon
	)

Definition at line 331 of file frameacc.hpp.

bool KDL::Equal	(	const TwistAcc &	a,
		const TwistAcc &	b,
		double	eps = epsilon
	)

Definition at line 587 of file frameacc.hpp.

bool KDL::Equal	(	const Twist &	a,
		const TwistAcc &	b,
		double	eps = epsilon
	)

Definition at line 591 of file frameacc.hpp.

bool KDL::Equal	(	const TwistAcc &	a,
		const Twist &	b,
		double	eps = epsilon
	)

Definition at line 595 of file frameacc.hpp.

bool KDL::Equal	(	const VectorAcc &	r1,
		const VectorAcc &	r2,
		double	eps = epsilon
	)

Definition at line 160 of file frameacc.hpp.

bool KDL::Equal	(	const Vector &	r1,
		const VectorAcc &	r2,
		double	eps = epsilon
	)

Definition at line 167 of file frameacc.hpp.

bool KDL::Equal	(	const VectorAcc &	r1,
		const Vector &	r2,
		double	eps = epsilon
	)

Definition at line 174 of file frameacc.hpp.

bool KDL::Equal	(	const VectorVel &	r1,
		const VectorVel &	r2,
		double	eps = epsilon
	)

Definition at line 361 of file framevel.hpp.

bool KDL::Equal	(	const Vector &	r1,
		const VectorVel &	r2,
		double	eps = epsilon
	)

Definition at line 364 of file framevel.hpp.

bool KDL::Equal	(	const VectorVel &	r1,
		const Vector &	r2,
		double	eps = epsilon
	)

Definition at line 367 of file framevel.hpp.

bool KDL::Equal	(	const RotationVel &	r1,
		const RotationVel &	r2,
		double	eps = epsilon
	)

Definition at line 405 of file framevel.hpp.

bool KDL::Equal	(	const Rotation &	r1,
		const RotationVel &	r2,
		double	eps = epsilon
	)

Definition at line 408 of file framevel.hpp.

bool KDL::Equal	(	const RotationVel &	r1,
		const Rotation &	r2,
		double	eps = epsilon
	)

Definition at line 411 of file framevel.hpp.

bool KDL::Equal	(	const FrameVel &	r1,
		const FrameVel &	r2,
		double	eps = epsilon
	)

Definition at line 76 of file framevel.hpp.

bool KDL::Equal	(	const Frame &	r1,
		const FrameVel &	r2,
		double	eps = epsilon
	)

Definition at line 79 of file framevel.hpp.

bool KDL::Equal	(	const FrameVel &	r1,
		const Frame &	r2,
		double	eps = epsilon
	)

Definition at line 82 of file framevel.hpp.

bool KDL::Equal	(	const TwistVel &	a,
		const TwistVel &	b,
		double	eps = epsilon
	)

Definition at line 449 of file framevel.hpp.

bool KDL::Equal	(	const Twist &	a,
		const TwistVel &	b,
		double	eps = epsilon
	)

Definition at line 453 of file framevel.hpp.

bool KDL::Equal	(	const TwistVel &	a,
		const Twist &	b,
		double	eps = epsilon
	)

Definition at line 457 of file framevel.hpp.

bool KDL::Equal	(	const JntArrayVel &	src1,
		const JntArrayVel &	src2,
		double	eps
	)

Definition at line 111 of file jntarrayvel.cpp.

bool KDL::Equal	(	const JntSpaceInertiaMatrix &	src1,
		const JntSpaceInertiaMatrix &	src2,
		double	eps
	)

Definition at line 111 of file jntspaceinertiamatrix.cpp.

bool KDL::Equal	(	const JntArray &	src1,
		const JntArray &	src2,
		double	eps = epsilon
	)

Function to check if two arrays are the same with a precision of eps

Parameters

src1
src2
eps	default: epsilon

Returns

true if each element of src1 is within eps of the same element in src2, or if both src1 and src2 have no data (ie 0==rows())

Definition at line 113 of file jntarray.cpp.

bool KDL::Equal	(	const Jacobian &	a,
		const Jacobian &	b,
		double	eps
	)

Definition at line 138 of file jacobian.cpp.

IMETHOD bool KDL::Equal ( const Vector &  a, const Vector &  b, double  eps = epsilon  )

inline

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

Definition at line 1033 of file frames.hpp.

IMETHOD bool KDL::Equal ( const Frame &  a, const Frame &  b, double  eps = epsilon  )

inline

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

Definition at line 1040 of file frames.hpp.

IMETHOD bool KDL::Equal ( const Twist &  a, const Twist &  b, double  eps = epsilon  )

inline

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

Definition at line 1050 of file frames.hpp.

IMETHOD bool KDL::Equal ( const Wrench &  a, const Wrench &  b, double  eps = epsilon  )

inline

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

Definition at line 1045 of file frames.hpp.

IMETHOD bool KDL::Equal ( const Vector2 &  a, const Vector2 &  b, double  eps = epsilon  )

inline

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

Definition at line 1055 of file frames.hpp.

IMETHOD bool KDL::Equal ( const Rotation2 &  a, const Rotation2 &  b, double  eps = epsilon  )

inline

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

Definition at line 1060 of file frames.hpp.

IMETHOD bool KDL::Equal ( const Frame2 &  a, const Frame2 &  b, double  eps = epsilon  )

inline

Definition at line 1064 of file frames.hpp.

bool KDL::Equal	(	const Rotation &	a,
		const Rotation &	b,
		double	eps
	)

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

Definition at line 159 of file frames.cpp.

bool KDL::Equal	(	const JntArrayAcc &	src1,
		const JntArrayAcc &	src2,
		double	eps
	)

Definition at line 171 of file jntarrayacc.cpp.

bool KDL::Equal ( double  a, double  b, double  eps = epsilon  )

inline

Definition at line 268 of file utility.h.

template<class T , class V , class S >

INLINE bool KDL::Equal	(	const Rall1d< T, V, S > &	y,
		const Rall1d< T, V, S > &	x,
		double	eps = epsilon
	)

Definition at line 469 of file rall1d.h.

template<class T , class V , class S >

INLINE bool KDL::Equal	(	const Rall2d< T, V, S > &	y,
		const Rall2d< T, V, S > &	x,
		double	eps = epsilon
	)

Definition at line 526 of file rall2d.h.

double KDL::exp ( double  a )

inline

Definition at line 92 of file utility.h.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::exp

(

const Rall1d< T, V, S > &

arg

)

Definition at line 297 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::exp

(

const Rall2d< T, V, S > &

arg

)

Definition at line 318 of file rall2d.h.

static void KDL::generatePowers ( int  n, double  x, double *  powers  )

inlinestatic

Definition at line 8 of file velocityprofile_spline.cpp.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::hypot	(	const Rall1d< T, V, S > &	y,
		const Rall1d< T, V, S > &	x
	)

Definition at line 385 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::hypot	(	const Rall2d< T, V, S > &	y,
		const Rall2d< T, V, S > &	x
	)

Definition at line 472 of file rall2d.h.

void KDL::IOTrace

(

const std::string &

description

)

void KDL::IOTraceOutput

(

std::ostream &

os

)

outputs the IO-stack to a stream to provide a better errormessage.

void KDL::IOTracePop

(

)

pops a description of the IO-stack

void KDL::IOTracePopStr	(	char *	buffer,
		int	size
	)

outputs one element of the IO-stack to the buffer (maximally size chars) returns empty string if no elements on the stack.

Chain KDL::KukaLWR

(

)

Chain KDL::KukaLWR_DHnew

(

)

Definition at line 26 of file kukaLWR_DHnew.cpp.

Chain KDL::KukaLWRsegment

(

)

int KDL::ldl_solver_eigen	(	const Eigen::MatrixXd &	A,
		const Eigen::VectorXd &	v,
		Eigen::MatrixXd &	L,
		Eigen::VectorXd &	D,
		Eigen::VectorXd &	vtmp,
		Eigen::VectorXd &	q
	)

Solves the system of equations Aq = v for q via LDL decomposition, where A is a square positive definite matrix.

The algorithm factor A into the product of three matrices LDL^T, where L is a lower triangular matrix and D is a diagonal matrix. This allows q to be computed without explicity inverting A. Note that the LDL decomposition is a variant of the classical Cholesky Decomposition that does not require the computation of square roots. Input parameters:

Parameters

A	matrix<double>(nxn)
v	vector<double> n
vtmp	vector<double> n [temp variable] Output parameters:
L	matrix<double>(nxn)
D	vector<double> n
q	vector<double> n

Returns

0 if successful, E_SIZE_MISMATCH if dimensions do not match References: https://en.wikipedia.org/wiki/Cholesky_decomposition

Definition at line 26 of file ldl_solver_eigen.cpp.

double KDL::LinComb ( double  alfa, double  a, double  beta, double  b  )

inline

Definition at line 231 of file utility.h.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::LinComb	(	S	alfa,
		const Rall1d< T, V, S > &	a,
		const T &	beta,
		const Rall1d< T, V, S > &	b
	)

Definition at line 439 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::LinComb	(	S	alfa,
		const Rall2d< T, V, S > &	a,
		const T &	beta,
		const Rall2d< T, V, S > &	b
	)

Definition at line 492 of file rall2d.h.

void KDL::LinCombR ( double  alfa, double  a, double  beta, double  b, double &  result  )

inline

Definition at line 236 of file utility.h.

template<class T , class V , class S >

INLINE void KDL::LinCombR	(	S	alfa,
		const Rall1d< T, V, S > &	a,
		const T &	beta,
		const Rall1d< T, V, S > &	b,
		Rall1d< T, V, S > &	result
	)

Definition at line 448 of file rall1d.h.

template<class T , class V , class S >

INLINE void KDL::LinCombR	(	S	alfa,
		const Rall2d< T, V, S > &	a,
		const T &	beta,
		const Rall2d< T, V, S > &	b,
		Rall2d< T, V, S > &	result
	)

Definition at line 502 of file rall2d.h.

double KDL::log ( double  a )

inline

Definition at line 95 of file utility.h.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::log

(

const Rall1d< T, V, S > &

arg

)

Definition at line 305 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::log

(

const Rall2d< T, V, S > &

arg

)

Definition at line 328 of file rall2d.h.

double KDL::max ( double  a, double  b  )

inline

Definition at line 204 of file utility.h.

double KDL::min ( double  a, double  b  )

inline

Definition at line 212 of file utility.h.

void KDL::Multiply	(	const JntArrayVel &	src,
		const double &	factor,
		JntArrayVel &	dest
	)

Definition at line 79 of file jntarrayvel.cpp.

void KDL::Multiply	(	const JntArrayVel &	src,
		const doubleVel &	factor,
		JntArrayVel &	dest
	)

Definition at line 84 of file jntarrayvel.cpp.

void KDL::Multiply	(	const JntSpaceInertiaMatrix &	src,
		const double &	factor,
		JntSpaceInertiaMatrix &	dest
	)

Definition at line 91 of file jntspaceinertiamatrix.cpp.

void KDL::Multiply	(	const JntArray &	src,
		const double &	factor,
		JntArray &	dest
	)

Function to multiply all the array values with a scalar factor: A*b=C. This function is aliasing-safe, A can be the same array as C.

Parameters

src	A
factor	b
dest	C

Definition at line 92 of file jntarray.cpp.

void KDL::Multiply	(	const JntSpaceInertiaMatrix &	src,
		const JntArray &	vec,
		JntArray &	dest
	)

Definition at line 101 of file jntspaceinertiamatrix.cpp.

void KDL::Multiply	(	const JntArrayAcc &	src,
		const double &	factor,
		JntArrayAcc &	dest
	)

Definition at line 104 of file jntarrayacc.cpp.

void KDL::Multiply	(	const JntArrayAcc &	src,
		const doubleVel &	factor,
		JntArrayAcc &	dest
	)

Definition at line 110 of file jntarrayacc.cpp.

void KDL::Multiply	(	const JntArrayAcc &	src,
		const doubleAcc &	factor,
		JntArrayAcc &	dest
	)

Definition at line 120 of file jntarrayacc.cpp.

void KDL::MultiplyJacobian	(	const Jacobian &	jac,
		const JntArray &	src,
		Twist &	dest
	)

Function to multiply a KDL::Jacobian with a KDL::JntArray to get a KDL::Twist, it should not be used to calculate the forward velocity kinematics, the solver classes are built for this purpose. J*q = t

Parameters

jac	J
src	q
dest	t

Postcondition

dest==Twist::Zero() if 0==src.rows() (ie src is empty)

Definition at line 102 of file jntarray.cpp.

double KDL::Norm ( double  arg )

inline

Definition at line 256 of file utility.h.

template<class T , class V , class S >

INLINE S KDL::Norm

(

const Rall1d< T, V, S > &

value

)

Definition at line 418 of file rall1d.h.

template<class T , class V , class S >

INLINE S KDL::Norm

(

const Rall2d< T, V, S > &

value

)

Definition at line 483 of file rall2d.h.

bool KDL::operator!=	(	const FrameVel &	r1,
		const FrameVel &	r2
	)

Definition at line 93 of file framevel.hpp.

bool KDL::operator!=	(	const Frame &	r1,
		const FrameVel &	r2
	)

Definition at line 104 of file framevel.hpp.

bool KDL::operator!=	(	const FrameVel &	r1,
		const Frame &	r2
	)

Definition at line 115 of file framevel.hpp.

bool KDL::operator!=	(	const VectorVel &	r1,
		const VectorVel &	r2
	)

Definition at line 378 of file framevel.hpp.

bool KDL::operator!=	(	const Vector &	r1,
		const VectorVel &	r2
	)

Definition at line 389 of file framevel.hpp.

bool KDL::operator!=	(	const VectorVel &	r1,
		const Vector &	r2
	)

Definition at line 400 of file framevel.hpp.

bool KDL::operator!=	(	const RotationVel &	r1,
		const RotationVel &	r2
	)

Definition at line 422 of file framevel.hpp.

bool KDL::operator!=	(	const Rotation &	r1,
		const RotationVel &	r2
	)

Definition at line 433 of file framevel.hpp.

bool KDL::operator!=	(	const RotationVel &	r1,
		const Rotation &	r2
	)

Definition at line 444 of file framevel.hpp.

bool KDL::operator!=	(	const TwistVel &	a,
		const TwistVel &	b
	)

Definition at line 469 of file framevel.hpp.

bool KDL::operator!=	(	const Twist &	r1,
		const TwistVel &	r2
	)

Definition at line 480 of file framevel.hpp.

template<class T , class V , class S >

INLINE bool KDL::operator!=	(	const Rall1d< T, V, S > &	y,
		const Rall1d< T, V, S > &	x
	)

Definition at line 485 of file rall1d.h.

bool KDL::operator!=	(	const TwistVel &	r1,
		const Twist &	r2
	)

Definition at line 491 of file framevel.hpp.

template<class T , class V , class S >

INLINE bool KDL::operator!=	(	const Rall2d< T, V, S > &	y,
		const Rall2d< T, V, S > &	x
	)

Definition at line 548 of file rall2d.h.

IMETHOD bool KDL::operator!=	(	const Frame &	a,
		const Frame &	b
	)

Definition at line 1285 of file frames.hpp.

IMETHOD bool KDL::operator!=	(	const Vector &	a,
		const Vector &	b
	)

Definition at line 1299 of file frames.hpp.

IMETHOD bool KDL::operator!=	(	const Twist &	a,
		const Twist &	b
	)

Definition at line 1312 of file frames.hpp.

IMETHOD bool KDL::operator!=	(	const Wrench &	a,
		const Wrench &	b
	)

Definition at line 1325 of file frames.hpp.

IMETHOD bool KDL::operator!=	(	const Rotation &	a,
		const Rotation &	b
	)

Definition at line 1328 of file frames.hpp.

IMETHOD bool KDL::operator!=	(	const Vector2 &	a,
		const Vector2 &	b
	)

Definition at line 1341 of file frames.hpp.

FrameVel KDL::operator*	(	const FrameVel &	lhs,
		const FrameVel &	rhs
	)

Definition at line 34 of file framevel.hpp.

FrameVel KDL::operator*	(	const FrameVel &	lhs,
		const Frame &	rhs
	)

Definition at line 38 of file framevel.hpp.

FrameVel KDL::operator*	(	const Frame &	lhs,
		const FrameVel &	rhs
	)

Definition at line 42 of file framevel.hpp.

RigidBodyInertia KDL::operator*	(	double	a,
		const RigidBodyInertia &	I
	)

Scalar product: I_new = double * I_old

Definition at line 44 of file rigidbodyinertia.cpp.

RotationalInertia KDL::operator*	(	double	a,
		const RotationalInertia &	I
	)

Definition at line 50 of file rotationalinertia.cpp.

ArticulatedBodyInertia KDL::operator*	(	double	a,
		const ArticulatedBodyInertia &	I
	)

Scalar product: I_new = double * I_old

Definition at line 51 of file articulatedbodyinertia.cpp.

Wrench KDL::operator*	(	const RigidBodyInertia &	I,
		const Twist &	t
	)

calculate spatial momentum: h = I*v make sure that the twist v and the inertia are expressed in the same reference frame/point

Definition at line 52 of file rigidbodyinertia.cpp.

VectorAcc KDL::operator*	(	const VectorAcc &	r1,
		const VectorAcc &	r2
	)

Definition at line 53 of file frameacc.hpp.

RigidBodyInertia KDL::operator*	(	const Frame &	T,
		const RigidBodyInertia &	I
	)

Coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b.

Definition at line 56 of file rigidbodyinertia.cpp.

VectorAcc KDL::operator*	(	const VectorAcc &	r1,
		const Vector &	r2
	)

Definition at line 60 of file frameacc.hpp.

VectorAcc KDL::operator*	(	const Vector &	r1,
		const VectorAcc &	r2
	)

Definition at line 64 of file frameacc.hpp.

Wrench KDL::operator*	(	const ArticulatedBodyInertia &	I,
		const Twist &	t
	)

calculate spatial momentum: h = I*v make sure that the twist v and the inertia are expressed in the same reference frame/point

Definition at line 70 of file articulatedbodyinertia.cpp.

VectorAcc KDL::operator*	(	double	r1,
		const VectorAcc &	r2
	)

Definition at line 71 of file frameacc.hpp.

RigidBodyInertia KDL::operator*	(	const Rotation &	R,
		const RigidBodyInertia &	I
	)

Reference frame orientation change Ia = R_a_b*Ib with R_a_b the rotation of b expressed in a

Definition at line 74 of file rigidbodyinertia.cpp.

VectorAcc KDL::operator*	(	const VectorAcc &	r1,
		double	r2
	)

Definition at line 75 of file frameacc.hpp.

ArticulatedBodyInertia KDL::operator*	(	const Frame &	T,
		const ArticulatedBodyInertia &	I
	)

Coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b.

Definition at line 77 of file articulatedbodyinertia.cpp.

VectorAcc KDL::operator*	(	const doubleAcc &	r1,
		const VectorAcc &	r2
	)

Definition at line 79 of file frameacc.hpp.

Wrench KDL::operator* ( const Stiffness &  s, const Twist &  t  )

inline

Definition at line 81 of file stiffness.hpp.

Vector KDL::operator*	(	const Vector &	lhs,
		double	rhs
	)

Definition at line 84 of file frames.hpp.

VectorAcc KDL::operator*	(	const VectorAcc &	r2,
		const doubleAcc &	r1
	)

Definition at line 86 of file frameacc.hpp.

ArticulatedBodyInertia KDL::operator*	(	const Rotation &	R,
		const ArticulatedBodyInertia &	I
	)

Reference frame orientation change Ia = R_a_b*Ib with R_a_b the rotation of b expressed in a

Definition at line 92 of file articulatedbodyinertia.cpp.

Vector KDL::operator*	(	double	lhs,
		const Vector &	rhs
	)

Definition at line 93 of file frames.hpp.

Vector KDL::operator*	(	const Vector &	lhs,
		const Vector &	rhs
	)

Definition at line 111 of file frames.hpp.

RotationVel KDL::operator*	(	const RotationVel &	r1,
		const RotationVel &	r2
	)

Definition at line 130 of file framevel.hpp.

RotationVel KDL::operator*	(	const Rotation &	r1,
		const RotationVel &	r2
	)

Definition at line 134 of file framevel.hpp.

RotationVel KDL::operator*	(	const RotationVel &	r1,
		const Rotation &	r2
	)

Definition at line 138 of file framevel.hpp.

Rotation KDL::operator*	(	const Rotation &	lhs,
		const Rotation &	rhs
	)

Definition at line 173 of file frames.cpp.

RotationAcc KDL::operator*	(	const RotationAcc &	r1,
		const RotationAcc &	r2
	)

Definition at line 193 of file frameacc.hpp.

RotationAcc KDL::operator*	(	const Rotation &	r1,
		const RotationAcc &	r2
	)

Definition at line 200 of file frameacc.hpp.

RotationAcc KDL::operator*	(	const RotationAcc &	r1,
		const Rotation &	r2
	)

Definition at line 204 of file frameacc.hpp.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator*	(	const Rall1d< T, V, S > &	lhs,
		const Rall1d< T, V, S > &	rhs
	)

Definition at line 223 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator*	(	const Rall2d< T, V, S > &	lhs,
		const Rall2d< T, V, S > &	rhs
	)

Definition at line 236 of file rall2d.h.

Wrench KDL::operator*	(	const Wrench &	lhs,
		double	rhs
	)

Definition at line 243 of file frames.hpp.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator*	(	S	s,
		const Rall1d< T, V, S > &	v
	)

Definition at line 248 of file rall1d.h.

Wrench KDL::operator*	(	double	lhs,
		const Wrench &	rhs
	)

Definition at line 248 of file frames.hpp.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator*	(	const Rall1d< T, V, S > &	v,
		S	s
	)

Definition at line 254 of file rall1d.h.

VectorAcc KDL::operator*	(	const Rotation &	R,
		const VectorAcc &	x
	)

Definition at line 255 of file frameacc.hpp.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator*	(	S	s,
		const Rall2d< T, V, S > &	v
	)

Definition at line 264 of file rall2d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator*	(	const Rall2d< T, V, S > &	v,
		S	s
	)

Definition at line 270 of file rall2d.h.

VectorVel KDL::operator*	(	const VectorVel &	r1,
		const VectorVel &	r2
	)

Definition at line 281 of file framevel.hpp.

VectorVel KDL::operator*	(	const VectorVel &	r1,
		const Vector &	r2
	)

Definition at line 285 of file framevel.hpp.

VectorVel KDL::operator*	(	const Vector &	r1,
		const VectorVel &	r2
	)

Definition at line 289 of file framevel.hpp.

VectorVel KDL::operator*	(	double	r1,
		const VectorVel &	r2
	)

Definition at line 296 of file framevel.hpp.

VectorVel KDL::operator*	(	const VectorVel &	r1,
		double	r2
	)

Definition at line 300 of file framevel.hpp.

VectorVel KDL::operator*	(	const doubleVel &	r1,
		const VectorVel &	r2
	)

Definition at line 306 of file framevel.hpp.

VectorVel KDL::operator*	(	const VectorVel &	r2,
		const doubleVel &	r1
	)

Definition at line 310 of file framevel.hpp.

VectorVel KDL::operator*	(	const Rotation &	R,
		const VectorVel &	x
	)

Definition at line 322 of file framevel.hpp.

Twist KDL::operator*	(	const Twist &	lhs,
		double	rhs
	)

Definition at line 346 of file frames.hpp.

FrameAcc KDL::operator*	(	const FrameAcc &	lhs,
		const FrameAcc &	rhs
	)

Definition at line 350 of file frameacc.hpp.

Twist KDL::operator*	(	double	lhs,
		const Twist &	rhs
	)

Definition at line 351 of file frames.hpp.

FrameAcc KDL::operator*	(	const FrameAcc &	lhs,
		const Frame &	rhs
	)

Definition at line 354 of file frameacc.hpp.

FrameAcc KDL::operator*	(	const Frame &	lhs,
		const FrameAcc &	rhs
	)

Definition at line 358 of file frameacc.hpp.

Twist KDL::operator*	(	const Twist &	lhs,
		const Twist &	rhs
	)

Definition at line 380 of file frames.hpp.

Wrench KDL::operator*	(	const Twist &	lhs,
		const Wrench &	rhs
	)

Definition at line 384 of file frames.hpp.

Frame KDL::operator*	(	const Frame &	lhs,
		const Frame &	rhs
	)

Definition at line 407 of file frames.hpp.

TwistAcc KDL::operator*	(	const TwistAcc &	lhs,
		double	rhs
	)

Definition at line 472 of file frameacc.hpp.

TwistAcc KDL::operator*	(	double	lhs,
		const TwistAcc &	rhs
	)

Definition at line 477 of file frameacc.hpp.

TwistAcc KDL::operator*	(	const TwistAcc &	lhs,
		const doubleAcc &	rhs
	)

Definition at line 488 of file frameacc.hpp.

TwistAcc KDL::operator*	(	const doubleAcc &	lhs,
		const TwistAcc &	rhs
	)

Definition at line 493 of file frameacc.hpp.

TwistVel KDL::operator*	(	const TwistVel &	lhs,
		double	rhs
	)

Definition at line 543 of file framevel.hpp.

TwistVel KDL::operator*	(	double	lhs,
		const TwistVel &	rhs
	)

Definition at line 548 of file framevel.hpp.

TwistVel KDL::operator*	(	const TwistVel &	lhs,
		const doubleVel &	rhs
	)

Definition at line 559 of file framevel.hpp.

TwistVel KDL::operator*	(	const doubleVel &	lhs,
		const TwistVel &	rhs
	)

Definition at line 564 of file framevel.hpp.

IMETHOD Vector2 KDL::operator*	(	const Vector2 &	lhs,
		double	rhs
	)

Definition at line 756 of file frames.hpp.

IMETHOD Vector2 KDL::operator*	(	double	lhs,
		const Vector2 &	rhs
	)

Definition at line 761 of file frames.hpp.

IMETHOD Rotation2 KDL::operator*	(	const Rotation2 &	lhs,
		const Rotation2 &	rhs
	)

Definition at line 871 of file frames.hpp.

IMETHOD Frame2 KDL::operator*	(	const Frame2 &	lhs,
		const Frame2 &	rhs
	)

Definition at line 931 of file frames.hpp.

VectorAcc KDL::operator+	(	const VectorAcc &	r1,
		const VectorAcc &	r2
	)

Definition at line 25 of file frameacc.hpp.

VectorAcc KDL::operator+	(	const Vector &	r1,
		const VectorAcc &	r2
	)

Definition at line 32 of file frameacc.hpp.

VectorAcc KDL::operator+	(	const VectorAcc &	r1,
		const Vector &	r2
	)

Definition at line 39 of file frameacc.hpp.

RigidBodyInertia KDL::operator+	(	const RigidBodyInertia &	Ia,
		const RigidBodyInertia &	Ib
	)

addition I: I_new = I_old1 + I_old2, make sure that I_old1 and I_old2 are expressed in the same reference frame/point, otherwise the result is worth nothing

Definition at line 48 of file rigidbodyinertia.cpp.

ArticulatedBodyInertia KDL::operator+	(	const ArticulatedBodyInertia &	Ia,
		const ArticulatedBodyInertia &	Ib
	)

addition I: I_new = I_old1 + I_old2, make sure that I_old1 and I_old2 are expressed in the same reference frame/point, otherwise the result is worth nothing

Definition at line 55 of file articulatedbodyinertia.cpp.

RotationalInertia KDL::operator+	(	const RotationalInertia &	Ia,
		const RotationalInertia &	Ib
	)

Definition at line 56 of file rotationalinertia.cpp.

IMETHOD Vector KDL::operator+	(	const Vector &	lhs,
		const Vector &	rhs
	)

Definition at line 58 of file frames.hpp.

ArticulatedBodyInertia KDL::operator+	(	const RigidBodyInertia &	Ia,
		const ArticulatedBodyInertia &	Ib
	)

Definition at line 59 of file articulatedbodyinertia.cpp.

Stiffness KDL::operator+ ( const Stiffness &  s1, const Stiffness &  s2  )

inline

Definition at line 92 of file stiffness.hpp.

ArticulatedBodyInertia KDL::operator+	(	const ArticulatedBodyInertia &	Ia,
		const RigidBodyInertia &	Ib
	)

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator+	(	const Rall1d< T, V, S > &	lhs,
		const Rall1d< T, V, S > &	rhs
	)

Definition at line 229 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator+	(	const Rall2d< T, V, S > &	lhs,
		const Rall2d< T, V, S > &	rhs
	)

Definition at line 246 of file rall2d.h.

VectorVel KDL::operator+	(	const VectorVel &	r1,
		const VectorVel &	r2
	)

Definition at line 246 of file framevel.hpp.

VectorVel KDL::operator+	(	const VectorVel &	r1,
		const Vector &	r2
	)

Definition at line 254 of file framevel.hpp.

Wrench KDL::operator+	(	const Wrench &	lhs,
		const Wrench &	rhs
	)

Definition at line 259 of file frames.hpp.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator+	(	S	s,
		const Rall1d< T, V, S > &	v
	)

Definition at line 260 of file rall1d.h.

VectorVel KDL::operator+	(	const Vector &	r1,
		const VectorVel &	r2
	)

Definition at line 262 of file framevel.hpp.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator+	(	const Rall1d< T, V, S > &	v,
		S	s
	)

Definition at line 266 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator+	(	S	s,
		const Rall2d< T, V, S > &	v
	)

Definition at line 276 of file rall2d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator+	(	const Rall2d< T, V, S > &	v,
		S	s
	)

Definition at line 282 of file rall2d.h.

Twist KDL::operator+	(	const Twist &	lhs,
		const Twist &	rhs
	)

Definition at line 362 of file frames.hpp.

TwistAcc KDL::operator+	(	const TwistAcc &	lhs,
		const TwistAcc &	rhs
	)

Definition at line 506 of file frameacc.hpp.

TwistVel KDL::operator+	(	const TwistVel &	lhs,
		const TwistVel &	rhs
	)

Definition at line 577 of file framevel.hpp.

IMETHOD Vector2 KDL::operator+	(	const Vector2 &	lhs,
		const Vector2 &	rhs
	)

Definition at line 746 of file frames.hpp.

VectorAcc KDL::operator-	(	const VectorAcc &	r1,
		const VectorAcc &	r2
	)

Definition at line 29 of file frameacc.hpp.

VectorAcc KDL::operator-	(	const Vector &	r1,
		const VectorAcc &	r2
	)

Definition at line 36 of file frameacc.hpp.

VectorAcc KDL::operator-	(	const VectorAcc &	r1,
		const Vector &	r2
	)

Definition at line 43 of file frameacc.hpp.

VectorAcc KDL::operator-

(

const VectorAcc &

r

)

Definition at line 48 of file frameacc.hpp.

ArticulatedBodyInertia KDL::operator-	(	const ArticulatedBodyInertia &	Ia,
		const ArticulatedBodyInertia &	Ib
	)

Definition at line 62 of file articulatedbodyinertia.cpp.

ArticulatedBodyInertia KDL::operator-	(	const RigidBodyInertia &	Ia,
		const ArticulatedBodyInertia &	Ib
	)

Definition at line 66 of file articulatedbodyinertia.cpp.

IMETHOD Vector KDL::operator-	(	const Vector &	lhs,
		const Vector &	rhs
	)

Definition at line 67 of file frames.hpp.

ArticulatedBodyInertia KDL::operator-	(	const ArticulatedBodyInertia &	Ia,
		const RigidBodyInertia &	Ib
	)

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator-	(	const Rall1d< T, V, S > &	lhs,
		const Rall1d< T, V, S > &	rhs
	)

Definition at line 236 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator-

(

const Rall1d< T, V, S > &

arg

)

Definition at line 242 of file rall1d.h.

VectorVel KDL::operator-	(	const VectorVel &	r1,
		const VectorVel &	r2
	)

Definition at line 250 of file framevel.hpp.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator-	(	const Rall2d< T, V, S > &	lhs,
		const Rall2d< T, V, S > &	rhs
	)

Definition at line 252 of file rall2d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator-

(

const Rall2d< T, V, S > &

arg

)

Definition at line 258 of file rall2d.h.

VectorVel KDL::operator-	(	const VectorVel &	r1,
		const Vector &	r2
	)

Definition at line 258 of file framevel.hpp.

Wrench KDL::operator-	(	const Wrench &	lhs,
		const Wrench &	rhs
	)

Definition at line 264 of file frames.hpp.

VectorVel KDL::operator-	(	const Vector &	r1,
		const VectorVel &	r2
	)

Definition at line 266 of file framevel.hpp.

Wrench KDL::operator-

(

const Wrench &

arg

)

Definition at line 270 of file frames.hpp.

VectorVel KDL::operator-

(

const VectorVel &

r

)

Definition at line 271 of file framevel.hpp.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator-	(	S	s,
		const Rall1d< T, V, S > &	v
	)

Definition at line 272 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator-	(	const Rall1d< T, V, S > &	v,
		S	s
	)

Definition at line 278 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator-	(	S	s,
		const Rall2d< T, V, S > &	v
	)

Definition at line 288 of file rall2d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator-	(	const Rall2d< T, V, S > &	v,
		S	s
	)

Definition at line 294 of file rall2d.h.

Twist KDL::operator-	(	const Twist &	lhs,
		const Twist &	rhs
	)

Definition at line 367 of file frames.hpp.

Twist KDL::operator-

(

const Twist &

arg

)

Definition at line 373 of file frames.hpp.

Vector KDL::operator-

(

const Vector &

arg

)

Definition at line 450 of file frames.hpp.

TwistAcc KDL::operator-	(	const TwistAcc &	lhs,
		const TwistAcc &	rhs
	)

Definition at line 511 of file frameacc.hpp.

TwistAcc KDL::operator-

(

const TwistAcc &

arg

)

Definition at line 517 of file frameacc.hpp.

TwistVel KDL::operator-	(	const TwistVel &	lhs,
		const TwistVel &	rhs
	)

Definition at line 582 of file framevel.hpp.

TwistVel KDL::operator-

(

const TwistVel &

arg

)

Definition at line 588 of file framevel.hpp.

IMETHOD Vector2 KDL::operator-	(	const Vector2 &	lhs,
		const Vector2 &	rhs
	)

Definition at line 751 of file frames.hpp.

IMETHOD Vector2 KDL::operator-

(

const Vector2 &

arg

)

Definition at line 814 of file frames.hpp.

Vector KDL::operator/	(	const Vector &	lhs,
		double	rhs
	)

Definition at line 102 of file frames.hpp.

VectorAcc KDL::operator/	(	const VectorAcc &	r1,
		double	r2
	)

Definition at line 181 of file frameacc.hpp.

VectorAcc KDL::operator/	(	const VectorAcc &	r2,
		const doubleAcc &	r1
	)

Definition at line 185 of file frameacc.hpp.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator/	(	const Rall1d< T, V, S > &	lhs,
		const Rall1d< T, V, S > &	rhs
	)

Definition at line 217 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator/	(	const Rall2d< T, V, S > &	lhs,
		const Rall2d< T, V, S > &	rhs
	)

Definition at line 226 of file rall2d.h.

Wrench KDL::operator/	(	const Wrench &	lhs,
		double	rhs
	)

Definition at line 253 of file frames.hpp.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator/	(	S	s,
		const Rall1d< T, V, S > &	v
	)

Definition at line 284 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator/	(	const Rall1d< T, V, S > &	v,
		S	s
	)

Definition at line 290 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator/	(	S	s,
		const Rall2d< T, V, S > &	rhs
	)

Definition at line 300 of file rall2d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator/	(	const Rall2d< T, V, S > &	v,
		S	s
	)

Definition at line 311 of file rall2d.h.

VectorVel KDL::operator/	(	const VectorVel &	r1,
		double	r2
	)

Definition at line 314 of file framevel.hpp.

VectorVel KDL::operator/	(	const VectorVel &	r2,
		const doubleVel &	r1
	)

Definition at line 318 of file framevel.hpp.

Twist KDL::operator/	(	const Twist &	lhs,
		double	rhs
	)

Definition at line 356 of file frames.hpp.

TwistAcc KDL::operator/	(	const TwistAcc &	lhs,
		double	rhs
	)

Definition at line 482 of file frameacc.hpp.

TwistAcc KDL::operator/	(	const TwistAcc &	lhs,
		const doubleAcc &	rhs
	)

Definition at line 498 of file frameacc.hpp.

TwistVel KDL::operator/	(	const TwistVel &	lhs,
		double	rhs
	)

Definition at line 553 of file framevel.hpp.

TwistVel KDL::operator/	(	const TwistVel &	lhs,
		const doubleVel &	rhs
	)

Definition at line 569 of file framevel.hpp.

IMETHOD Vector2 KDL::operator/	(	const Vector2 &	lhs,
		double	rhs
	)

Definition at line 766 of file frames.hpp.

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Joint &	joint
	)

Definition at line 27 of file kinfam_io.cpp.

template<class T , class V , class S >

std::ostream& KDL::operator<< ( std::ostream &  os, const Rall1d< T, V, S > &  r  )

inline

Definition at line 28 of file rall1d_io.h.

template<class T , class V , class S >

std::ostream& KDL::operator<<	(	std::ostream &	os,
		const Rall2d< T, V, S > &	r
	)

Definition at line 29 of file rall2d_io.h.

std::ostream& KDL::operator<< ( std::ostream &  os, const VectorVel &  r  )

inline

Definition at line 29 of file framevel_io.hpp.

std::ostream& KDL::operator<< ( std::ostream &  os, const VectorAcc &  r  )

inline

Definition at line 32 of file frameacc_io.hpp.

std::ostream& KDL::operator<< ( std::ostream &  os, const RotationVel &  r  )

inline

Definition at line 34 of file framevel_io.hpp.

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Segment &	segment
	)

Definition at line 36 of file kinfam_io.cpp.

std::ostream& KDL::operator<< ( std::ostream &  os, const RotationAcc &  r  )

inline

Definition at line 37 of file frameacc_io.hpp.

std::ostream& KDL::operator<< ( std::ostream &  os, const FrameVel &  r  )

inline

Definition at line 40 of file framevel_io.hpp.

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Vector &	v
	)

width to be used when printing variables out with frames_io.h global variable, can be changed.

Definition at line 42 of file frames_io.cpp.

std::ostream& KDL::operator<< ( std::ostream &  os, const FrameAcc &  r  )

inline

Definition at line 44 of file frameacc_io.hpp.

std::ostream& KDL::operator<< ( std::ostream &  os, const TwistVel &  r  )

inline

Definition at line 45 of file framevel_io.hpp.

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Chain &	chain
	)

Definition at line 45 of file kinfam_io.cpp.

std::ostream& KDL::operator<< ( std::ostream &  os, const TwistAcc &  r  )

inline

Definition at line 48 of file frameacc_io.hpp.

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Twist &	v
	)

Definition at line 48 of file frames_io.cpp.

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Tree &	tree
	)

Definition at line 57 of file kinfam_io.cpp.

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Wrench &	v
	)

Definition at line 59 of file frames_io.cpp.

std::ostream & KDL::operator<<	(	std::ostream &	os,
		SegmentMap::const_iterator	root
	)

Definition at line 62 of file kinfam_io.cpp.

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Rotation &	R
	)

Definition at line 71 of file frames_io.cpp.

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const JntArray &	array
	)

Definition at line 75 of file kinfam_io.cpp.

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Jacobian &	jac
	)

Definition at line 87 of file kinfam_io.cpp.

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const JntSpaceInertiaMatrix &	jntspaceinertiamatrix
	)

Definition at line 101 of file kinfam_io.cpp.

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Frame &	T
	)

Definition at line 105 of file frames_io.cpp.

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Vector2 &	v
	)

Definition at line 111 of file frames_io.cpp.

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Rotation2 &	R
	)

Definition at line 118 of file frames_io.cpp.

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Frame2 &	T
	)

Definition at line 123 of file frames_io.cpp.

bool KDL::operator==	(	const FrameVel &	r1,
		const FrameVel &	r2
	)

Definition at line 85 of file framevel.hpp.

bool KDL::operator==	(	const Frame &	r1,
		const FrameVel &	r2
	)

Definition at line 96 of file framevel.hpp.

bool KDL::operator==	(	const FrameVel &	r1,
		const Frame &	r2
	)

Definition at line 107 of file framevel.hpp.

bool KDL::operator==	(	const JntSpaceInertiaMatrix &	src1,
		const JntSpaceInertiaMatrix &	src2
	)

Definition at line 118 of file jntspaceinertiamatrix.cpp.

bool KDL::operator==	(	const JntArray &	src1,
		const JntArray &	src2
	)

Definition at line 120 of file jntarray.cpp.

bool KDL::operator==	(	const VectorVel &	r1,
		const VectorVel &	r2
	)

Definition at line 370 of file framevel.hpp.

bool KDL::operator==	(	const Vector &	r1,
		const VectorVel &	r2
	)

Definition at line 381 of file framevel.hpp.

bool KDL::operator==	(	const VectorVel &	r1,
		const Vector &	r2
	)

Definition at line 392 of file framevel.hpp.

bool KDL::operator==	(	const RotationVel &	r1,
		const RotationVel &	r2
	)

Definition at line 414 of file framevel.hpp.

bool KDL::operator==	(	const Rotation &	r1,
		const RotationVel &	r2
	)

Definition at line 425 of file framevel.hpp.

bool KDL::operator==	(	const Rotation &	a,
		const Rotation &	b
	)

Definition at line 430 of file frames.cpp.

bool KDL::operator==	(	const RotationVel &	r1,
		const Rotation &	r2
	)

Definition at line 436 of file framevel.hpp.

bool KDL::operator==	(	const TwistVel &	a,
		const TwistVel &	b
	)

Definition at line 461 of file framevel.hpp.

bool KDL::operator==	(	const Twist &	a,
		const TwistVel &	b
	)

Definition at line 472 of file framevel.hpp.

template<class T , class V , class S >

INLINE bool KDL::operator==	(	const Rall1d< T, V, S > &	y,
		const Rall1d< T, V, S > &	x
	)

Definition at line 475 of file rall1d.h.

bool KDL::operator==	(	const TwistVel &	r1,
		const Twist &	r2
	)

Definition at line 483 of file framevel.hpp.

template<class T , class V , class S >

INLINE bool KDL::operator==	(	const Rall2d< T, V, S > &	y,
		const Rall2d< T, V, S > &	x
	)

Definition at line 535 of file rall2d.h.

IMETHOD bool KDL::operator==	(	const Frame &	a,
		const Frame &	b
	)

Definition at line 1276 of file frames.hpp.

IMETHOD bool KDL::operator==	(	const Vector &	a,
		const Vector &	b
	)

Definition at line 1289 of file frames.hpp.

IMETHOD bool KDL::operator==	(	const Twist &	a,
		const Twist &	b
	)

Definition at line 1303 of file frames.hpp.

IMETHOD bool KDL::operator==	(	const Wrench &	a,
		const Wrench &	b
	)

Definition at line 1316 of file frames.hpp.

IMETHOD bool KDL::operator==	(	const Vector2 &	a,
		const Vector2 &	b
	)

Definition at line 1332 of file frames.hpp.

std::istream & KDL::operator>>	(	std::istream &	is,
		Joint &	joint
	)

Definition at line 32 of file kinfam_io.cpp.

std::istream & KDL::operator>>	(	std::istream &	is,
		Segment &	segment
	)

Definition at line 41 of file kinfam_io.cpp.

std::istream & KDL::operator>>	(	std::istream &	is,
		Chain &	chain
	)

Definition at line 53 of file kinfam_io.cpp.

std::istream & KDL::operator>>	(	std::istream &	is,
		Tree &	tree
	)

Definition at line 71 of file kinfam_io.cpp.

std::istream & KDL::operator>>	(	std::istream &	is,
		JntArray &	array
	)

Definition at line 83 of file kinfam_io.cpp.

std::istream & KDL::operator>>	(	std::istream &	is,
		Jacobian &	jac
	)

Definition at line 98 of file kinfam_io.cpp.

std::istream & KDL::operator>>	(	std::istream &	is,
		JntSpaceInertiaMatrix &	jntspaceinertiamatrix
	)

Definition at line 112 of file kinfam_io.cpp.

std::istream & KDL::operator>>	(	std::istream &	is,
		Vector &	v
	)

Definition at line 129 of file frames_io.cpp.

std::istream & KDL::operator>>	(	std::istream &	is,
		Twist &	v
	)

Definition at line 152 of file frames_io.cpp.

std::istream & KDL::operator>>	(	std::istream &	is,
		Wrench &	v
	)

Definition at line 171 of file frames_io.cpp.

std::istream & KDL::operator>>	(	std::istream &	is,
		Rotation &	r
	)

Definition at line 190 of file frames_io.cpp.

std::istream & KDL::operator>>	(	std::istream &	is,
		Frame &	T
	)

Definition at line 251 of file frames_io.cpp.

std::istream & KDL::operator>>	(	std::istream &	is,
		Vector2 &	v
	)

Definition at line 282 of file frames_io.cpp.

std::istream & KDL::operator>>	(	std::istream &	is,
		Rotation2 &	r
	)

Definition at line 292 of file frames_io.cpp.

std::istream & KDL::operator>>	(	std::istream &	is,
		Frame2 &	T
	)

Definition at line 302 of file frames_io.cpp.

template<typename T >

void KDL::posrandom

(

Jacobian< T > &

rv

)

Definition at line 25 of file jacobiantests.hpp.

IMETHOD void KDL::posrandom

(

doubleVel &

F

)

Definition at line 50 of file framevel.hpp.

void KDL::posrandom ( Stiffness &  F )

inline

Definition at line 102 of file stiffness.hpp.

void KDL::posrandom ( double &  a )

inline

Definition at line 278 of file utility.h.

IMETHOD void KDL::posrandom

(

VectorVel &

a

)

Definition at line 396 of file framevel.hpp.

IMETHOD void KDL::posrandom

(

TwistVel &

a

)

Definition at line 400 of file framevel.hpp.

IMETHOD void KDL::posrandom

(

RotationVel &

R

)

Definition at line 405 of file framevel.hpp.

IMETHOD void KDL::posrandom

(

FrameVel &

F

)

Definition at line 410 of file framevel.hpp.

IMETHOD void KDL::posrandom

(

Vector &

a

)

Definition at line 1244 of file frames.hpp.

IMETHOD void KDL::posrandom

(

Twist &

a

)

Definition at line 1249 of file frames.hpp.

IMETHOD void KDL::posrandom

(

Wrench &

a

)

Definition at line 1253 of file frames.hpp.

IMETHOD void KDL::posrandom

(

Rotation &

R

)

Definition at line 1258 of file frames.hpp.

IMETHOD void KDL::posrandom

(

Frame &

F

)

Definition at line 1268 of file frames.hpp.

double KDL::pow ( double  a, double  b  )

inline

Definition at line 122 of file utility.h.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::pow	(	const Rall1d< T, V, S > &	arg,
		double	m
	)

Definition at line 361 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::pow	(	const Rall2d< T, V, S > &	arg,
		double	m
	)

Definition at line 395 of file rall2d.h.

Chain KDL::Puma560

(

)

Definition at line 27 of file puma560.cpp.

double KDL::PYTHAG ( double  a, double  b  )

inline

Definition at line 35 of file svd_eigen_HH.hpp.

template<typename T >

void KDL::random

(

Jacobian< T > &

rv

)

Definition at line 16 of file jacobiantests.hpp.

IMETHOD void KDL::random

(

doubleVel &

F

)

Definition at line 46 of file framevel.hpp.

void KDL::random ( Stiffness &  F )

inline

Definition at line 111 of file stiffness.hpp.

void KDL::random ( double &  a )

inline

Definition at line 274 of file utility.h.

IMETHOD void KDL::random

(

VectorVel &

a

)

Definition at line 378 of file framevel.hpp.

IMETHOD void KDL::random

(

TwistVel &

a

)

Definition at line 382 of file framevel.hpp.

IMETHOD void KDL::random

(

RotationVel &

R

)

Definition at line 387 of file framevel.hpp.

IMETHOD void KDL::random

(

FrameVel &

F

)

Definition at line 392 of file framevel.hpp.

IMETHOD void KDL::random

(

Vector &

a

)

addDelta operator for displacement rotational velocity.

The Vector arguments here represent a displacement rotational velocity. i.e. a rotation around a fixed axis for a certain angle. For this representation you cannot use diff() but have to use diff_displ().

Parameters

a	: displacement rotational velocity
da	: rotational velocity

Returns

displacement rotational velocity

Warning

do not confuse displacement rotational velocities and velocities

do not confuse displacement twist and twist.

IMETHOD Vector addDelta_displ(const Vector& a,const Vector&da,double dt) { return getRot(addDelta(Rot(a),da,dt)); } addDelta operator for displacement twist.

The Vector arguments here represent a displacement rotational velocity. i.e. a rotation around a fixed axis for a certain angle. For this representation you cannot use diff() but have to use diff_displ().

Parameters

a	: displacement twist
da	: twist

Returns

displacement twist

Warning

do not confuse displacement rotational velocities and velocities

do not confuse displacement twist and twist.

IMETHOD Twist addDelta_displ(const Twist& a,const Twist&da,double dt) { return Twist(addDelta(a.vel,da.vel,dt),addDelta_displ(a.rot,da.rot,dt)); }

Definition at line 1215 of file frames.hpp.

IMETHOD void KDL::random

(

Twist &

a

)

Definition at line 1220 of file frames.hpp.

IMETHOD void KDL::random

(

Wrench &

a

)

Definition at line 1224 of file frames.hpp.

IMETHOD void KDL::random

(

Rotation &

R

)

Definition at line 1229 of file frames.hpp.

IMETHOD void KDL::random

(

Frame &

F

)

Definition at line 1239 of file frames.hpp.

IMETHOD Rotation KDL::Rot

(

const Vector &

axis_a_b

)

axis_a_b is a rotation vector, its norm is a rotation angle axis_a_b rotates the a frame towards the b frame. This routine returns the rotation matrix R_a_b

Definition at line 1108 of file frames.hpp.

void KDL::SetToIdentity ( double &  arg )

inline

to uniformly set double, RNDouble,Vector,... objects to the identity element in template-classes

Definition at line 247 of file utility.h.

template<class T , class V , class S >

INLINE void KDL::SetToIdentity

(

Rall1d< T, V, S > &

value

)

Definition at line 462 of file rall1d.h.

template<class T , class V , class S >

INLINE void KDL::SetToIdentity

(

Rall2d< T, V, S > &

value

)

Definition at line 518 of file rall2d.h.

void KDL::SetToZero

(

Jacobian &

jac

)

Definition at line 81 of file jacobian.cpp.

void KDL::SetToZero

(

JntArrayVel &

array

)

Definition at line 105 of file jntarrayvel.cpp.

void KDL::SetToZero

(

JntSpaceInertiaMatrix &

mat

)

Definition at line 106 of file jntspaceinertiamatrix.cpp.

void KDL::SetToZero

(

JntArray &

array

)

Function to set all the values of the array to 0

Parameters

array

Definition at line 108 of file jntarray.cpp.

void KDL::SetToZero

(

JntArrayAcc &

array

)

Definition at line 164 of file jntarrayacc.cpp.

void KDL::SetToZero ( double &  arg )

inline

to uniformly set double, RNDouble,Vector,... objects to zero in template-classes

Definition at line 242 of file utility.h.

void KDL::SetToZero

(

VectorVel &

v

)

Definition at line 275 of file framevel.hpp.

template<class T , class V , class S >

INLINE void KDL::SetToZero

(

Rall1d< T, V, S > &

value

)

Definition at line 456 of file rall1d.h.

template<class T , class V , class S >

INLINE void KDL::SetToZero

(

Rall2d< T, V, S > &

value

)

Definition at line 510 of file rall2d.h.

void KDL::SetToZero

(

TwistVel &

v

)

Definition at line 593 of file framevel.hpp.

IMETHOD void KDL::SetToZero

(

Vector &

v

)

To have a uniform operator to put an element to zero, for scalar values and for objects.

Definition at line 1069 of file frames.hpp.

IMETHOD void KDL::SetToZero

(

Twist &

v

)

Definition at line 1072 of file frames.hpp.

IMETHOD void KDL::SetToZero

(

Wrench &

v

)

Sets the Wrench to Zero, to have a uniform function that sets an object or double to zero.

Definition at line 1076 of file frames.hpp.

IMETHOD void KDL::SetToZero

(

Vector2 &

v

)

Definition at line 1081 of file frames.hpp.

double KDL::SIGN ( double  a, double  b  )

inline

Definition at line 53 of file svd_eigen_HH.hpp.

double KDL::sign ( double  arg )

inline

Definition at line 251 of file utility.h.

double KDL::sin ( double  a )

inline

Definition at line 85 of file utility.h.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::sin

(

const Rall1d< T, V, S > &

arg

)

Definition at line 313 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::sin

(

const Rall2d< T, V, S > &

arg

)

Definition at line 338 of file rall2d.h.

double KDL::sinh ( double  a )

inline

Definition at line 104 of file utility.h.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::sinh

(

const Rall1d< T, V, S > &

arg

)

Definition at line 337 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::sinh

(

const Rall2d< T, V, S > &

arg

)

Definition at line 362 of file rall2d.h.

double KDL::sqr ( double  arg )

inline

Definition at line 255 of file utility.h.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::sqr

(

const Rall1d< T, V, S > &

arg

)

Definition at line 353 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::sqr

(

const Rall2d< T, V, S > &

arg

)

Definition at line 386 of file rall2d.h.

double KDL::sqrt ( double  a )

inline

Definition at line 107 of file utility.h.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::sqrt

(

const Rall1d< T, V, S > &

arg

)

Definition at line 369 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::sqrt

(

const Rall2d< T, V, S > &

arg

)

Definition at line 406 of file rall2d.h.

void KDL::Subtract	(	const JntArrayVel &	src1,
		const JntArrayVel &	src2,
		JntArrayVel &	dest
	)

Definition at line 68 of file jntarrayvel.cpp.

void KDL::Subtract	(	const JntArrayVel &	src1,
		const JntArray &	src2,
		JntArrayVel &	dest
	)

Definition at line 73 of file jntarrayvel.cpp.

void KDL::Subtract	(	const JntArrayAcc &	src1,
		const JntArrayAcc &	src2,
		JntArrayAcc &	dest
	)

Definition at line 85 of file jntarrayacc.cpp.

void KDL::Subtract	(	const JntSpaceInertiaMatrix &	src1,
		const JntSpaceInertiaMatrix &	src2,
		JntSpaceInertiaMatrix &	dest
	)

Definition at line 86 of file jntspaceinertiamatrix.cpp.

void KDL::Subtract	(	const JntArray &	src1,
		const JntArray &	src2,
		JntArray &	dest
	)

Function to subtract two joint arrays, all the arguments must have the same size: A - B = C. This function is aliasing-safe, A or B can be the same array as C.

Parameters

src1	A
src2	B
dest	C

Definition at line 87 of file jntarray.cpp.

void KDL::Subtract	(	const JntArrayAcc &	src1,
		const JntArrayVel &	src2,
		JntArrayAcc &	dest
	)

Definition at line 91 of file jntarrayacc.cpp.

void KDL::Subtract	(	const JntArrayAcc &	src1,
		const JntArray &	src2,
		JntArrayAcc &	dest
	)

Definition at line 97 of file jntarrayacc.cpp.

int KDL::svd_eigen_HH	(	const MatrixXd &	A,
		MatrixXd &	U,
		VectorXd &	S,
		MatrixXd &	V,
		VectorXd &	tmp,
		int	maxiter = 150,
		double	epsilon = 1e-300
	)

svd calculation of eigen matrices

Parameters

A	matrix<double>(mxn)
U	matrix<double>(mxn)
S	vector<double> n
V	matrix<double>(nxn)
tmp	vector<double> n
maxiter	defaults to 150

Returns

-2 if maxiter exceeded, 0 otherwise

Definition at line 26 of file svd_eigen_HH.cpp.

int KDL::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
	)

svd_eigen_Macie provides Maciejewski implementation for SVD.

computes the singular value decomposition of a matrix A, such that A=U*Sm*V

(Maciejewski and Klein,1989) and (Braun, Ulrey, Maciejewski and Siegel,2002)

Parameters

A	[INPUT] is an -matrix, where .
S	[OUTPUT] is an -vector, representing the diagonal elements of the diagonal matrix Sm.
U	[INPUT/OUTPUT] is an orthonormal matrix.
V	[INPUT/OUTPUT] is an orthonormal matrix.
B	[TEMPORARY] is an matrix used for temporary storage.
tempi	[TEMPORARY] is an vector used for temporary storage.
threshold	[INPUT] Threshold to determine orthogonality.
toggle	[INPUT] toggle this boolean variable on each call of this routine.

Returns

number of sweeps.

Definition at line 25 of file svd_eigen_Macie.cpp.

template<typename T >

void KDL::swap	(	scoped_ptr< T > &	a,
		scoped_ptr< T > &	b
	)

Definition at line 72 of file scoped_ptr.hpp.

double KDL::tan ( double  a )

inline

Definition at line 98 of file utility.h.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::tan

(

const Rall1d< T, V, S > &

arg

)

Definition at line 329 of file rall1d.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::tan

(

const Rall2d< T, V, S > &

arg

)

Definition at line 354 of file rall2d.h.

double KDL::tanh ( double  a )

inline

Definition at line 119 of file utility.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::tanh

(

const Rall2d< T, V, S > &

arg

)

Definition at line 378 of file rall2d.h.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::tanh

(

const Rall1d< T, V, S > &

arg

)

Definition at line 424 of file rall1d.h.

std::string KDL::tree2str	(	const SegmentMap::const_iterator	it,
		const std::string &	separator,
		const std::string &	preamble,
		unsigned int	level
	)

Definition at line 117 of file kinfam_io.cpp.

std::string KDL::tree2str	(	const Tree &	tree,
		const std::string &	separator,
		const std::string &	preamble
	)

Definition at line 128 of file kinfam_io.cpp.

template<typename Derived >

void KDL::Twist_to_Eigen ( const KDL::Twist &  t, Eigen::MatrixBase< Derived > &  e  )

inline

Definition at line 40 of file chainiksolverpos_lma.cpp.

Variable Documentation

const double KDL::deg2rad

the value pi/180

double KDL::epsilon

default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001.

const double KDL::L0 = 1.0

static

Definition at line 12 of file jacobiandottest.cpp.

const double KDL::L1 = 0.5

static

Definition at line 13 of file jacobiandottest.cpp.

const double KDL::L2 = 0.4

static

Definition at line 14 of file jacobiandottest.cpp.

const double KDL::L3 = 0

static

Definition at line 15 of file jacobiandottest.cpp.

const double KDL::L4 = 0

static

Definition at line 16 of file jacobiandottest.cpp.

const double KDL::L5 = 0

static

Definition at line 17 of file jacobiandottest.cpp.

int KDL::MAXLENFILENAME

maximal length of a file name

const bool KDL::mhi =true

static

Definition at line 30 of file rigidbodyinertia.cpp.

const double KDL::PI

the value of pi

const double KDL::PI_2

the value of pi/2

const double KDL::PI_4

the value of pi/4

const double KDL::rad2deg

the value 180/pi

int KDL::STREAMBUFFERSIZE

/note linkage Something fishy about the difference between C++ and C in C++ const values default to INTERNAL linkage, in C they default to EXTERNAL linkage. Here the constants should have EXTERNAL linkage because they, for at least some of them, can be changed by the user. If you want to explicitly declare internal linkage, use "static".

int KDL::VSIZE

the number of derivatives used in the RN-... objects.