#include "kdl-config.h"
#include <cstdlib>
#include <cassert>
#include <cmath>

Include dependency graph for utility.h:

This graph shows which files directly or indirectly include this file:

Functions
double	KDL::acos (double a)

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

double	KDL::asin (double a)

double	KDL::atan (double a)

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

double	KDL::cos (double a)

double	KDL::cosh (double a)

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

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

double	KDL::exp (double a)

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

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

double	KDL::log (double a)

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

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

double	KDL::Norm (double arg)

void	KDL::posrandom (double &a)

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

void	KDL::random (double &a)

void	KDL::SetToIdentity (double &arg)
	to uniformly set double, RNDouble,Vector,... objects to the identity element in template-classes More...

void	KDL::SetToZero (double &arg)
	to uniformly set double, RNDouble,Vector,... objects to zero in template-classes More...

double	KDL::sign (double arg)

double	KDL::sin (double a)

double	KDL::sinh (double a)

double	KDL::sqr (double arg)

double	KDL::sqrt (double a)

double	KDL::tan (double a)

double	KDL::tanh (double a)

Variables
const double	KDL::deg2rad
	the value pi/180 More...

double	KDL::epsilon
	default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001. More...

int	KDL::MAXLENFILENAME
	maximal length of a file name More...

const double	KDL::PI
	the value of pi More...

const double	KDL::PI_2
	the value of pi/2 More...

const double	KDL::PI_4
	the value of pi/4 More...

const double	KDL::rad2deg
	the value 180/pi More...

int	KDL::STREAMBUFFERSIZE

int	KDL::VSIZE
	the number of derivatives used in the RN-... objects. More...

Macro Definition Documentation

#define FRAMES_CHECKI ( a ) assert(a)

turn on or off frames bounds checking. If turned on, assert() can still be turned off with -DNDEBUG.

Definition at line 52 of file utility.h.

#define IMETHOD inline

Definition at line 41 of file utility.h.

#define INLINE inline

Definition at line 227 of file utility.h.

Classes