Public Types |
| typedef V | gradienttype |
| typedef S | scalartype |
| typedef T | valuetype |
Public Member Functions |
| V | deriv () const |
| INLINE V & | Gradient () |
| INLINE Rall1d< T, V, S > & | operator*= (const Rall1d< T, V, S > &rhs) |
| INLINE Rall1d< T, V, S > & | operator*= (S rhs) |
| INLINE Rall1d< T, V, S > & | operator+= (const Rall1d< T, V, S > &rhs) |
| INLINE Rall1d< T, V, S > & | operator+= (S rhs) |
| INLINE Rall1d< T, V, S > & | operator-= (const Rall1d< T, V, S > &rhs) |
| INLINE Rall1d< T, V, S > & | operator-= (S rhs) |
| INLINE Rall1d< T, V, S > & | operator/= (const Rall1d< T, V, S > &rhs) |
| INLINE Rall1d< T, V, S > & | operator/= (S rhs) |
| INLINE Rall1d< T, V, S > & | operator= (S c) |
| INLINE Rall1d< T, V, S > & | operator= (const Rall1d< T, V, S > &r) |
| INLINE | Rall1d () |
| INLINE | Rall1d (typename TI< T >::Arg c) |
| INLINE | Rall1d (typename TI< T >::Arg tn, typename TI< V >::Arg afg) |
| INLINE | Rall1d (const Rall1d< T, V, S > &r) |
| T | value () const |
| INLINE T & | Value () |
Static Public Member Functions |
| static INLINE Rall1d< T, V, S > | Identity () |
| static INLINE Rall1d< T, V, S > | Zero () |
Public Attributes |
| V | grad |
| | gradient
|
| T | t |
| | value
|
template<typename T, typename V = T, typename S = T>
class KDL::Rall1d< T, V, S >
Rall1d contains a value, and its gradient, and defines an algebraic structure on this pair. This template class has 3 template parameters :
- T contains the type of the value.
- V contains the type of the gradient (can be a vector-like type).
- S defines a scalar type that can operate on Rall1d. This is the type that is used to give back values of Norm() etc.
S is useful when you recurse a Rall1d object into itself to create a 2nd, 3rd, 4th,.. derivatives. (e.g. Rall1d< Rall1d<double>, Rall1d<double>, double> ).
S is always passed by value.
- Class Type
- Concrete implementation
Definition at line 49 of file rall1d.h.