Classes | Typedefs | Functions | Variables
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  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  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
 Dynamics calculations by constraints based on Vereshchagin 1989. for a chain. This class creates instance of hybrid dynamics solver. The solver calculates total joint space accelerations in a chain when a constraint force(s) is applied to the chain's end-effector (task space/cartesian space). More...
 
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. It should not be used outside of KDL. 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  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  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, FrameFrames
 
typedef std::map< std::string, JacobianJacobians
 
typedef std::map< std::string, TreeElementSegmentMap
 
typedef TreeElement TreeElementType
 
typedef std::map< std::string, TwistTwists
 
typedef std::vector< WrenchWrenches
 

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 JntArrayVel &src, const doubleVel &factor, JntArrayVel &dest)
 
void Divide (const JntArray &src, const double &factor, JntArray &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 ()
 
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 >
INLINENorm (const Rall1d< T, V, S > &value)
 
template<class T , class V , class S >
INLINENorm (const Rall2d< T, V, S > &value)
 
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)
 
RotationVel operator* (const RotationVel &r1, const RotationVel &r2)
 
RotationVel operator* (const Rotation &r1, const RotationVel &r2)
 
RotationVel operator* (const RotationVel &r1, const Rotation &r2)
 
Vector operator* (const Vector &lhs, const Vector &rhs)
 
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)
 
VectorVel operator* (const VectorVel &r1, const VectorVel &r2)
 
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)
 
VectorVel operator* (const VectorVel &r1, const Vector &r2)
 
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)
 
VectorAcc operator* (const Rotation &R, const VectorAcc &x)
 
VectorVel operator* (double r1, const VectorVel &r2)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator* (S s, const Rall2d< T, V, S > &v)
 
VectorVel operator* (const VectorVel &r1, double r2)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator* (const Rall2d< T, V, S > &v, S s)
 
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)
 
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)
 
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)
 
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)
 
VectorVel operator+ (const VectorVel &r1, const VectorVel &r2)
 
VectorVel operator+ (const VectorVel &r1, const Vector &r2)
 
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 > &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, const Wrench &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 > &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)
 
TwistVel operator+ (const TwistVel &lhs, const TwistVel &rhs)
 
TwistAcc operator+ (const TwistAcc &lhs, const TwistAcc &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)
 
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- (const VectorVel &r)
 
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)
 
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)
 
Wrench operator- (const Wrench &lhs, const Wrench &rhs)
 
Wrench operator- (const Wrench &arg)
 
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)
 
TwistVel operator- (const TwistVel &lhs, const TwistVel &rhs)
 
TwistVel operator- (const TwistVel &arg)
 
TwistAcc operator- (const TwistAcc &lhs, const TwistAcc &rhs)
 
TwistAcc operator- (const TwistAcc &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)
 
VectorVel operator/ (const VectorVel &r1, double r2)
 
VectorVel operator/ (const VectorVel &r2, const doubleVel &r1)
 
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)
 
Twist operator/ (const Twist &lhs, double rhs)
 
TwistVel operator/ (const TwistVel &lhs, double rhs)
 
TwistVel operator/ (const TwistVel &lhs, const doubleVel &rhs)
 
TwistAcc operator/ (const TwistAcc &lhs, double rhs)
 
TwistAcc operator/ (const TwistAcc &lhs, const doubleAcc &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 Chain &chain)
 
std::ostream & operator<< (std::ostream &os, const TwistVel &r)
 
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 JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2)
 
bool operator== (const JntArray &src1, const JntArray &src2)
 
bool operator== (const Rotation &a, const Rotation &b)
 
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)
 
void SetToZero (TwistVel &v)
 
template<class T , class V , class S >
INLINE void SetToZero (Rall2d< T, V, S > &value)
 
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 MatrixXd &A, MatrixXd &U, VectorXd &S, MatrixXd &V, MatrixXd &B, VectorXd &tempi, double threshold, bool toggle)
 
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)
 
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 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.

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 33 of file chainidsolver.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
src1A
src2B
destC

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 282 of file utility.h.

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

Definition at line 327 of file framevel.hpp.

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

Definition at line 334 of file framevel.hpp.

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

Definition at line 342 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_avector a expressed to some frame w.
p_w_davector 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 1150 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_aRotation matrix of frame a expressed to some frame w.
da_waxis 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 1154 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_aRotation matrix of frame a expressed to some frame w.
da_waxis 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 1157 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
aa twist wrt some frame
daa twist difference wrt some frame
Returns
The twist (a+da) wrt the corresponding frame.

Definition at line 1163 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
aa wrench wrt some frame
daa wrench difference wrt some frame
Returns
the wrench (a+da) wrt the corresponding frame.

Definition at line 1166 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 104 of file jacobian.cpp.

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

Definition at line 118 of file jacobian.cpp.

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

Definition at line 90 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 276 of file utility.h.

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

Definition at line 323 of file framevel.hpp.

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

Definition at line 330 of file framevel.hpp.

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

Definition at line 338 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_astart vector a expressed to some frame w
p_w_bend 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 1123 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 $ [0 , \pi] $.

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_b1The rotation matrix $ _a^{b1} R $ of b1 with respect to frame a.
R_a_b2The Rotation matrix $ _a^{b2} R $ 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 $ \pi $, The negative of the return value is equally valid.

Definition at line 1127 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_b1frame b1 expressed with respect to some frame a.
F_a_b2frame 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 1132 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 1138 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 1142 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 JntArrayVel src,
const doubleVel factor,
JntArrayVel dest 
)

Definition at line 97 of file jntarrayvel.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
srcA
factorb
destC

Definition at line 97 of file jntarray.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 358 of file framevel.hpp.

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

Definition at line 361 of file framevel.hpp.

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

Definition at line 364 of file framevel.hpp.

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

Definition at line 1006 of file frames.hpp.

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

Definition at line 1010 of file frames.hpp.

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

Definition at line 1014 of file frames.hpp.

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

Eats characters of the stream until the character delim is encountered

Parameters
isa stream
delimeat 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
isa stream
descriptdescription 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
isa stream
delimeat 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
isa stream
delima string containing the delimmiting characters
storagefor returning the word
maxsizea 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 324 of file framevel.hpp.

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

Definition at line 327 of file framevel.hpp.

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

Definition at line 330 of file framevel.hpp.

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

Definition at line 334 of file framevel.hpp.

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

Definition at line 337 of file framevel.hpp.

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

Definition at line 340 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 343 of file framevel.hpp.

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

Definition at line 347 of file framevel.hpp.

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

Definition at line 351 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
epsdefault: 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 137 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 1026 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 1033 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 1043 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 1038 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 1048 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 1053 of file frames.hpp.

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

Definition at line 1057 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 160 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 262 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 ( )
double KDL::LinComb ( double  alfa,
double  a,
double  beta,
double  b 
)
inline

Definition at line 225 of file utility.h.

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::LinComb ( 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 ( 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 230 of file utility.h.

template<class T , class V , class S >
INLINE void KDL::LinCombR ( 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 ( 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 198 of file utility.h.

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

Definition at line 206 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
srcA
factorb
destC

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
jacJ
srcq
destt
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 250 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.

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

Definition at line 1278 of file frames.hpp.

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

Definition at line 1292 of file frames.hpp.

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

Definition at line 1305 of file frames.hpp.

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

Definition at line 1318 of file frames.hpp.

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

Definition at line 1321 of file frames.hpp.

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

Definition at line 1334 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.

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

Definition at line 95 of file framevel.hpp.

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

Definition at line 99 of file framevel.hpp.

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

Definition at line 103 of file framevel.hpp.

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

Definition at line 111 of file frames.hpp.

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

Definition at line 174 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.

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

Definition at line 246 of file framevel.hpp.

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator* ( 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.

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

Definition at line 250 of file framevel.hpp.

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

Definition at line 254 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 
)

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.

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

Definition at line 261 of file framevel.hpp.

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

Definition at line 264 of file rall2d.h.

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

Definition at line 265 of file framevel.hpp.

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

Definition at line 270 of file rall2d.h.

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

Definition at line 271 of file framevel.hpp.

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

Definition at line 275 of file framevel.hpp.

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

Definition at line 287 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.

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

Definition at line 416 of file framevel.hpp.

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

Definition at line 421 of file framevel.hpp.

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

Definition at line 432 of file framevel.hpp.

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

Definition at line 437 of file framevel.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.

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

Definition at line 751 of file frames.hpp.

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

Definition at line 756 of file frames.hpp.

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

Definition at line 864 of file frames.hpp.

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

Definition at line 924 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 
)
VectorVel KDL::operator+ ( const VectorVel r1,
const VectorVel r2 
)

Definition at line 211 of file framevel.hpp.

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

Definition at line 219 of file framevel.hpp.

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

Definition at line 227 of file framevel.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 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.

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,
const Rall1d< T, V, S > &  v 
)

Definition at line 260 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 
)

Definition at line 266 of file rall1d.h.

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator+ ( 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 
)

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.

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

Definition at line 450 of file framevel.hpp.

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

Definition at line 506 of file frameacc.hpp.

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

Definition at line 741 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 
)
VectorVel KDL::operator- ( const VectorVel r1,
const VectorVel r2 
)

Definition at line 215 of file framevel.hpp.

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

Definition at line 223 of file framevel.hpp.

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

Definition at line 231 of file framevel.hpp.

VectorVel KDL::operator- ( const VectorVel r)

Definition at line 236 of file framevel.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 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.

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.

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

Definition at line 264 of file frames.hpp.

Wrench KDL::operator- ( const Wrench arg)

Definition at line 270 of file frames.hpp.

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator- ( 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 
)

Definition at line 278 of file rall1d.h.

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator- ( 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 
)

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.

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

Definition at line 455 of file framevel.hpp.

TwistVel KDL::operator- ( const TwistVel arg)

Definition at line 461 of file framevel.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.

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

Definition at line 746 of file frames.hpp.

IMETHOD Vector2 KDL::operator- ( const Vector2 arg)

Definition at line 809 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.

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

Definition at line 279 of file framevel.hpp.

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

Definition at line 283 of file framevel.hpp.

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator/ ( 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 
)

Definition at line 290 of file rall1d.h.

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator/ ( 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 
)

Definition at line 311 of file rall2d.h.

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

Definition at line 356 of file frames.hpp.

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

Definition at line 426 of file framevel.hpp.

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

Definition at line 442 of file framevel.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.

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

Definition at line 761 of file frames.hpp.

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

Definition at line 26 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 27 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 30 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 35 of file framevel_io.hpp.

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

Definition at line 35 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 41 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 Chain chain 
)

Definition at line 44 of file kinfam_io.cpp.

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

Definition at line 46 of file framevel_io.hpp.

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 56 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 61 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 74 of file kinfam_io.cpp.

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

Definition at line 86 of file kinfam_io.cpp.

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

Definition at line 100 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 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 Rotation a,
const Rotation b 
)

Definition at line 435 of file frames.cpp.

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

Definition at line 1269 of file frames.hpp.

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

Definition at line 1282 of file frames.hpp.

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

Definition at line 1296 of file frames.hpp.

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

Definition at line 1309 of file frames.hpp.

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

Definition at line 1325 of file frames.hpp.

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

Definition at line 31 of file kinfam_io.cpp.

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

Definition at line 40 of file kinfam_io.cpp.

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

Definition at line 52 of file kinfam_io.cpp.

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

Definition at line 70 of file kinfam_io.cpp.

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

Definition at line 82 of file kinfam_io.cpp.

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

Definition at line 97 of file kinfam_io.cpp.

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

Definition at line 111 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 272 of file utility.h.

IMETHOD void KDL::posrandom ( VectorVel a)

Definition at line 367 of file framevel.hpp.

IMETHOD void KDL::posrandom ( TwistVel a)

Definition at line 371 of file framevel.hpp.

IMETHOD void KDL::posrandom ( RotationVel R)

Definition at line 376 of file framevel.hpp.

IMETHOD void KDL::posrandom ( FrameVel F)

Definition at line 381 of file framevel.hpp.

IMETHOD void KDL::posrandom ( Vector a)

Definition at line 1237 of file frames.hpp.

IMETHOD void KDL::posrandom ( Twist a)

Definition at line 1242 of file frames.hpp.

IMETHOD void KDL::posrandom ( Wrench a)

Definition at line 1246 of file frames.hpp.

IMETHOD void KDL::posrandom ( Rotation R)

Definition at line 1251 of file frames.hpp.

IMETHOD void KDL::posrandom ( Frame F)

Definition at line 1261 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 26 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 268 of file utility.h.

IMETHOD void KDL::random ( VectorVel a)

Definition at line 349 of file framevel.hpp.

IMETHOD void KDL::random ( TwistVel a)

Definition at line 353 of file framevel.hpp.

IMETHOD void KDL::random ( RotationVel R)

Definition at line 358 of file framevel.hpp.

IMETHOD void KDL::random ( FrameVel F)

Definition at line 363 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 1208 of file frames.hpp.

IMETHOD void KDL::random ( Twist a)

Definition at line 1213 of file frames.hpp.

IMETHOD void KDL::random ( Wrench a)

Definition at line 1217 of file frames.hpp.

IMETHOD void KDL::random ( Rotation R)

Definition at line 1222 of file frames.hpp.

IMETHOD void KDL::random ( Frame F)

Definition at line 1232 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 1101 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 241 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 80 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 236 of file utility.h.

void KDL::SetToZero ( VectorVel v)

Definition at line 240 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.

void KDL::SetToZero ( TwistVel v)

Definition at line 466 of file framevel.hpp.

template<class T , class V , class S >
INLINE void KDL::SetToZero ( Rall2d< T, V, S > &  value)

Definition at line 510 of file rall2d.h.

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 1062 of file frames.hpp.

IMETHOD void KDL::SetToZero ( Twist v)

Definition at line 1065 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 1069 of file frames.hpp.

IMETHOD void KDL::SetToZero ( Vector2 v)

Definition at line 1074 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 245 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 249 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
src1A
src2B
destC

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
Amatrix<double>(mxn)
Umatrix<double>(mxn)
Svector<double> n
Vmatrix<double>(nxn)
tmpvector<double> n
maxiterdefaults 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 MatrixXd &  A,
MatrixXd &  U,
VectorXd &  S,
MatrixXd &  V,
MatrixXd &  B,
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 $m \times n$-matrix, where $ m \geq n $.
S[OUTPUT] is an $n$-vector, representing the diagonal elements of the diagonal matrix Sm.
U[INPUT/OUTPUT] is an $m \times m$ orthonormal matrix.
V[INPUT/OUTPUT] is an $n \times n$ orthonormal matrix.
B[TEMPORARY] is an $m \times n$ matrix used for temporary storage.
tempi[TEMPORARY] is an $m$ 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 59 of file svd_eigen_Macie.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.

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::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.



orocos_kdl
Author(s):
autogenerated on Tue Jul 3 2018 02:10:23