jntarray.hpp

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// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>

// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl

// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.

// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.

// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

#ifndef KDL_JNTARRAY_HPP
#define KDL_JNTARRAY_HPP

#include "frames.hpp"
#include "jacobian.hpp"

#include <Eigen/Core>

namespace KDL
{
    class JntArray
    {
    public:
        Eigen::VectorXd data;

        JntArray();
        explicit JntArray(unsigned int size);

        JntArray(const JntArray& arg);
        ~JntArray();
        void resize(unsigned int newSize);
        
        JntArray& operator = ( const JntArray& arg);
        double operator()(unsigned int i,unsigned int j=0)const;
        double& operator()(unsigned int i,unsigned int j=0);
        unsigned int rows()const;
        unsigned int columns()const;

        friend void Add(const JntArray& src1,const JntArray& src2,JntArray& dest);
        friend void Subtract(const JntArray& src1,const JntArray& src2,JntArray& dest);
        friend void Multiply(const JntArray& src,const double& factor,JntArray& dest);
        friend void Divide(const JntArray& src,const double& factor,JntArray& dest);
        friend void MultiplyJacobian(const Jacobian& jac, const JntArray& src, Twist& dest);
        friend void SetToZero(JntArray& array);
        friend bool Equal(const JntArray& src1,const JntArray& src2,double eps);

        friend bool operator==(const JntArray& src1,const JntArray& src2);
        //friend bool operator!=(const JntArray& src1,const JntArray& src2);
        };

    bool operator==(const JntArray& src1,const JntArray& src2);
    //bool operator!=(const JntArray& src1,const JntArray& src2);

    void Add(const JntArray& src1,const JntArray& src2,JntArray& dest);
    void Subtract(const JntArray& src1,const JntArray& src2,JntArray& dest);
    void Multiply(const JntArray& src,const double& factor,JntArray& dest);
    void Divide(const JntArray& src,const double& factor,JntArray& dest);
    void MultiplyJacobian(const Jacobian& jac, const JntArray& src, Twist& dest);
    void SetToZero(JntArray& array);
    bool Equal(const JntArray& src1,const JntArray& src2,double eps=epsilon);

}

#endif