Namespaces | Classes | Typedefs | Functions | Variables
KDL Namespace Reference

Namespaces

 Corba
 

Classes

class  ArticulatedBodyInertia
 
class  Chain
 
class  ChainDynParam
 
class  ChainFdSolver
 
class  ChainFdSolver_RNE
 
class  ChainFkSolverAcc
 
class  ChainFkSolverPos
 
class  ChainFkSolverPos_recursive
 
class  ChainFkSolverVel
 
class  ChainFkSolverVel_recursive
 
class  ChainIdSolver
 
class  ChainIdSolver_RNE
 
class  ChainIdSolver_Vereshchagin
 
class  ChainIkSolverAcc
 
class  ChainIkSolverPos
 
class  ChainIkSolverPos_LMA
 
class  ChainIkSolverPos_NR
 
class  ChainIkSolverPos_NR_JL
 
class  ChainIkSolverVel
 
class  ChainIkSolverVel_pinv
 
class  ChainIkSolverVel_pinv_givens
 
class  ChainIkSolverVel_pinv_nso
 
class  ChainIkSolverVel_wdls
 
class  ChainJntToJacDotSolver
 
class  ChainJntToJacSolver
 
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
 
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
 
class  Error_Stepsize_To_Small
 
class  Error_Stepsize_Underflow
 
class  Error_To_Many_Steps
 
class  Frame
 
class  Frame2
 
struct  frame_inv
 
struct  frame_pos
 
struct  frame_rot
 
class  FrameAcc
 
class  FrameVel
 
class  Jacobian
 
class  JntArray
 
class  JntArrayAcc
 
struct  JntArrayTypeInfo
 
class  JntArrayVel
 
class  Joint
 
struct  KDLTypeInfo
 
class  KDLTypekitPlugin
 
struct  KDLVectorTypeInfo
 
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
 
class  Rotation
 
class  Rotation2
 
struct  rotation_inv
 
struct  rotation_pitch
 
struct  rotation_roll
 
struct  rotation_yaw
 
class  RotationAcc
 
class  RotationalInertia
 
class  RotationalInterpolation
 
class  RotationalInterpolation_SingleAxis
 
class  RotationVel
 
class  scoped_ptr
 
class  Segment
 
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
 
class  TreeElement
 
class  TreeFkSolverPos
 
class  TreeFkSolverPos_recursive
 
class  TreeIdSolver
 
class  TreeIdSolver_RNE
 
class  TreeIkSolverPos
 
class  TreeIkSolverPos_NR_JL
 
class  TreeIkSolverPos_Online
 
class  TreeIkSolverVel
 
class  TreeIkSolverVel_wdls
 
class  TreeJntToJacSolver
 
class  Twist
 
struct  twist_rot
 
struct  twist_vel
 
class  TwistAcc
 
class  TwistVel
 
class  Vector
 
class  Vector2
 
struct  vector_dot
 
struct  vector_index
 
class  VectorAcc
 
class  VectorVel
 
class  VelocityProfile
 
class  VelocityProfile_Dirac
 
class  VelocityProfile_Rectangular
 
class  VelocityProfile_Spline
 
class  VelocityProfile_Trap
 
class  VelocityProfile_TrapHalf
 
class  Wrench
 
struct  wrench_force
 
struct  wrench_torque
 
struct  wrenchtwist_index
 

Typedefs

typedef Rall2d< double, double, double > doubleAcc
 
typedef Rall1d< double > doubleVel
 
typedef std::map< std::string, Frame > Frames
 
typedef std::map< std::string, Jacobian > Jacobians
 
typedef std::map< std::string, TreeElement > SegmentMap
 
typedef TreeElement TreeElementType
 
typedef std::map< std::string, Twist > Twists
 
typedef std::vector< Wrench > Wrenches
 
typedef std::map< std::string, Wrench > WrenchMap
 

Functions

void _check_istream (std::istream &is)
 
INLINE Rall1d< T, V, S > abs (const Rall1d< T, V, S > &x)
 
INLINE Rall2d< T, V, S > abs (const Rall2d< T, V, S > &x)
 
double acos (double a)
 
INLINE Rall1d< T, V, S > acos (const Rall1d< T, V, S > &x)
 
INLINE Rall2d< T, V, S > acos (const Rall2d< T, V, S > &arg)
 
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)
 
void Add (const JntArrayVel &src1, const JntArrayVel &src2, JntArrayVel &dest)
 
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)
 
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)
 
IMETHOD Wrench addDelta (const Wrench &a, const Wrench &da, double dt=1)
 
IMETHOD doubleVel addDelta (const doubleVel &a, const doubleVel &da, double dt=1.0)
 
double addDelta (double a, double da, double dt)
 
double asin (double a)
 
INLINE Rall1d< T, V, S > asin (const Rall1d< T, V, S > &x)
 
INLINE Rall2d< T, V, S > asin (const Rall2d< T, V, S > &arg)
 
double atan (double a)
 
INLINE Rall1d< T, V, S > atan (const Rall1d< T, V, S > &x)
 
INLINE Rall2d< T, V, S > atan (const Rall2d< T, V, S > &x)
 
INLINE Rall2d< T, V, S > atan2 (const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x)
 
double atan2 (double a, double b)
 
INLINE Rall1d< T, V, S > atan2 (const Rall1d< T, V, S > &y, const Rall1d< 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 ()
 
void checkEqual (const T &a, const T &b, double eps)
 
void checkEulerZYX ()
 
void checkFrameOps ()
 
void checkFrameVelOps ()
 
double cos (double a)
 
INLINE Rall1d< T, V, S > cos (const Rall1d< T, V, S > &arg)
 
INLINE Rall2d< T, V, S > cos (const Rall2d< T, V, S > &arg)
 
double cosh (double a)
 
INLINE Rall1d< T, V, S > cosh (const Rall1d< T, V, S > &arg)
 
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 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)
 
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)
 
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)
 
INLINE bool Equal (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x, double eps=epsilon)
 
INLINE bool Equal (const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x, double eps=epsilon)
 
double exp (double a)
 
INLINE Rall1d< T, V, S > exp (const Rall1d< T, V, S > &arg)
 
INLINE Rall2d< T, V, S > exp (const Rall2d< T, V, S > &arg)
 
Frame framerv (const Rotation &r, const Vector &v)
 
Frame framevr (const Vector &v, const Rotation &r)
 
static void generatePowers (int n, double x, double *powers)
 
template<class KDLType , int size>
double & get_container_item (KDLType &cont, int index)
 
template<class KDLType , int size>
double get_container_item_copy (const KDLType &cont, int index)
 
double & get_item (JntArray &v, int index)
 
double get_item_copy (const JntArray &v, int index)
 
int get_size (const JntArray &v)
 
void GetQuaternion (const Rotation &rot, double &x, double &y, double &z, double &w)
 
INLINE Rall1d< T, V, S > hypot (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
 
INLINE Rall2d< T, V, S > hypot (const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x)
 
Rotation Inverse (const Rotation &rot)
 
Frame Inverse (const Frame &f)
 
void IOTrace (const std::string &description)
 
void IOTraceOutput (std::ostream &os)
 
void IOTracePop ()
 
void IOTracePopStr (char *buffer, int size)
 
Chain KukaLWR ()
 
Chain KukaLWR_DHnew ()
 
Chain KukaLWRsegment ()
 
int ldl_solver_eigen (const Eigen::MatrixXd &A, const Eigen::VectorXd &v, Eigen::MatrixXd &L, Eigen::VectorXd &D, Eigen::VectorXd &vtmp, Eigen::VectorXd &q)
 
double LinComb (double alfa, double a, double beta, double b)
 
INLINE Rall1d< T, V, S > LinComb (S alfa, const Rall1d< T, V, S > &a, const T &beta, const Rall1d< T, V, S > &b)
 
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)
 
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)
 
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)
 
void loadChainTypes ()
 
void loadFrameTypes ()
 
void loadJacobianTypes ()
 
void loadJntArrayTypes ()
 
void loadJointTypes ()
 
void loadRotationTypes ()
 
void loadSegmentTypes ()
 
void loadTwistTypes ()
 
void loadVectorTypes ()
 
void loadWrenchTypes ()
 
double log (double a)
 
INLINE Rall1d< T, V, S > log (const Rall1d< T, V, S > &arg)
 
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)
 
INLINE S Norm (const Rall1d< T, V, S > &value)
 
INLINE S Norm (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)
 
TwistAcc operator* (const doubleAcc &lhs, const TwistAcc &rhs)
 
TwistVel operator* (const TwistVel &lhs, double rhs)
 
IMETHOD Vector2 operator* (const Vector2 &lhs, double rhs)
 
TwistVel operator* (const doubleVel &lhs, const TwistVel &rhs)
 
FrameVel operator* (const FrameVel &lhs, const FrameVel &rhs)
 
TwistVel operator* (const TwistVel &lhs, const doubleVel &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)
 
TwistVel operator* (double lhs, const TwistVel &rhs)
 
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)
 
IMETHOD Vector2 operator* (double lhs, const Vector2 &rhs)
 
RotationAcc operator* (const RotationAcc &r1, const Rotation &r2)
 
INLINE Rall1d< T, V, S > operator* (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
 
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)
 
Frame operator* (const Frame &lhs, const Frame &rhs)
 
VectorVel operator* (const VectorVel &r1, const VectorVel &r2)
 
Wrench operator* (double lhs, const Wrench &rhs)
 
INLINE Rall1d< T, V, S > operator* (S s, const Rall1d< T, V, S > &v)
 
VectorVel operator* (const VectorVel &r1, const Vector &r2)
 
INLINE Rall1d< T, V, S > operator* (const Rall1d< T, V, S > &v, S s)
 
VectorVel operator* (const Vector &r1, const VectorVel &r2)
 
VectorAcc operator* (const Rotation &R, const VectorAcc &x)
 
VectorVel operator* (double r1, const VectorVel &r2)
 
INLINE Rall2d< T, V, S > operator* (S s, const Rall2d< T, V, S > &v)
 
VectorVel operator* (const VectorVel &r1, double r2)
 
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)
 
Wrench operator* (const Twist &lhs, const Wrench &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)
 
TwistAcc operator* (double lhs, const TwistAcc &rhs)
 
TwistAcc operator* (const TwistAcc &lhs, const doubleAcc &rhs)
 
IMETHOD Rotation2 operator* (const Rotation2 &lhs, const Rotation2 &rhs)
 
IMETHOD Frame2 operator* (const Frame2 &lhs, const Frame2 &rhs)
 
TwistAcc operator* (const TwistAcc &lhs, double rhs)
 
TwistVel operator+ (const TwistVel &lhs, const TwistVel &rhs)
 
INLINE Rall1d< T, V, S > operator+ (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
 
INLINE Rall1d< T, V, S > operator+ (const Rall1d< T, V, S > &v, S s)
 
ArticulatedBodyInertia operator+ (const ArticulatedBodyInertia &Ia, const RigidBodyInertia &Ib)
 
RotationalInertia operator+ (const RotationalInertia &Ia, const RotationalInertia &Ib)
 
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)
 
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)
 
VectorVel operator+ (const VectorVel &r1, const VectorVel &r2)
 
VectorVel operator+ (const VectorVel &r1, const Vector &r2)
 
VectorVel operator+ (const Vector &r1, const VectorVel &r2)
 
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)
 
INLINE Rall1d< T, V, S > operator+ (S s, const Rall1d< T, V, S > &v)
 
INLINE Rall2d< T, V, S > operator+ (S s, const Rall2d< T, V, S > &v)
 
INLINE Rall2d< T, V, S > operator+ (const Rall2d< T, V, S > &v, S s)
 
Twist operator+ (const Twist &lhs, const Twist &rhs)
 
TwistAcc operator+ (const TwistAcc &lhs, const TwistAcc &rhs)
 
IMETHOD Vector2 operator+ (const Vector2 &lhs, const Vector2 &rhs)
 
INLINE Rall2d< T, V, S > operator- (const Rall2d< T, V, S > &v, S s)
 
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 Vector &r1, const VectorVel &r2)
 
INLINE Rall1d< T, V, S > operator- (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
 
VectorVel operator- (const VectorVel &r)
 
INLINE Rall2d< T, V, S > operator- (const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
 
INLINE Rall2d< T, V, S > operator- (const Rall2d< T, V, S > &arg)
 
Wrench operator- (const Wrench &lhs, const Wrench &rhs)
 
TwistVel operator- (const TwistVel &lhs, const TwistVel &rhs)
 
INLINE Rall1d< T, V, S > operator- (S s, const Rall1d< T, V, S > &v)
 
INLINE Rall1d< T, V, S > operator- (const Rall1d< T, V, S > &v, S s)
 
INLINE Rall2d< T, V, S > operator- (S s, const Rall2d< T, V, S > &v)
 
Twist operator- (const Twist &lhs, const Twist &rhs)
 
Twist operator- (const Twist &arg)
 
Vector operator- (const Vector &arg)
 
TwistVel operator- (const TwistVel &arg)
 
TwistAcc operator- (const TwistAcc &lhs, const TwistAcc &rhs)
 
TwistAcc operator- (const TwistAcc &arg)
 
IMETHOD Vector2 operator- (const Vector2 &arg)
 
IMETHOD Vector2 operator- (const Vector2 &lhs, const Vector2 &rhs)
 
Wrench operator- (const Wrench &arg)
 
INLINE Rall1d< T, V, S > operator- (const Rall1d< T, V, S > &arg)
 
VectorVel operator- (const VectorVel &r1, const Vector &r2)
 
VectorAcc operator- (const Vector &r1, const VectorAcc &r2)
 
VectorAcc operator- (const VectorAcc &r1, const VectorAcc &r2)
 
Twist operator/ (const Twist &lhs, double rhs)
 
INLINE Rall2d< T, V, S > operator/ (const Rall2d< T, V, S > &v, S s)
 
TwistAcc operator/ (const TwistAcc &lhs, double rhs)
 
Vector operator/ (const Vector &lhs, double rhs)
 
VectorAcc operator/ (const VectorAcc &r1, double r2)
 
INLINE Rall1d< T, V, S > operator/ (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
 
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)
 
INLINE Rall2d< T, V, S > operator/ (S s, const Rall2d< T, V, S > &rhs)
 
VectorVel operator/ (const VectorVel &r2, const doubleVel &r1)
 
INLINE Rall1d< T, V, S > operator/ (const Rall1d< T, V, S > &v, S s)
 
INLINE Rall1d< T, V, S > operator/ (S s, const Rall1d< T, V, S > &v)
 
TwistVel operator/ (const TwistVel &lhs, double rhs)
 
VectorVel operator/ (const VectorVel &r1, double r2)
 
VectorAcc operator/ (const VectorAcc &r2, const doubleAcc &r1)
 
IMETHOD Vector2 operator/ (const Vector2 &lhs, double rhs)
 
TwistVel operator/ (const TwistVel &lhs, const doubleVel &rhs)
 
TwistAcc operator/ (const TwistAcc &lhs, const doubleAcc &rhs)
 
std::ostream & operator<< (std::ostream &os, const TwistVel &r)
 
std::ostream & operator<< (std::ostream &os, const RotationAcc &r)
 
std::ostream & operator<< (std::ostream &os, const Wrench &v)
 
std::ostream & operator<< (std::ostream &os, const Tree &tree)
 
std::ostream & operator<< (std::ostream &os, const Segment &segment)
 
std::ostream & operator<< (std::ostream &os, const Vector2 &v)
 
std::ostream & operator<< (std::ostream &os, const JntArray &array)
 
std::ostream & operator<< (std::ostream &os, const FrameVel &r)
 
std::ostream & operator<< (std::ostream &os, const Rall1d< T, V, S > &r)
 
std::ostream & operator<< (std::ostream &os, const Rall2d< T, V, S > &r)
 
std::ostream & operator<< (std::ostream &os, const RotationVel &r)
 
std::ostream & operator<< (std::ostream &os, const Vector &v)
 
std::ostream & operator<< (std::ostream &os, const Chain &chain)
 
std::ostream & operator<< (std::ostream &os, const TwistAcc &r)
 
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 JntSpaceInertiaMatrix &jntspaceinertiamatrix)
 
std::ostream & operator<< (std::ostream &os, const Frame2 &T)
 
std::ostream & operator<< (std::ostream &os, const FrameAcc &r)
 
std::ostream & operator<< (std::ostream &os, const Twist &v)
 
std::ostream & operator<< (std::ostream &os, const Jacobian &jac)
 
std::ostream & operator<< (std::ostream &os, const Rotation2 &R)
 
std::ostream & operator<< (std::ostream &os, const VectorVel &r)
 
std::ostream & operator<< (std::ostream &os, const Joint &joint)
 
std::ostream & operator<< (std::ostream &os, const VectorAcc &r)
 
std::ostream & operator<< (std::ostream &os, const Frame &T)
 
IMETHOD bool operator== (const Frame &a, const Frame &b)
 
IMETHOD bool operator== (const Vector2 &a, const Vector2 &b)
 
bool operator== (const JntArray &src1, const JntArray &src2)
 
IMETHOD bool operator== (const Twist &a, const Twist &b)
 
IMETHOD bool operator== (const Wrench &a, const Wrench &b)
 
bool operator== (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2)
 
bool operator== (const Rotation &a, const Rotation &b)
 
IMETHOD bool operator== (const Vector &a, const Vector &b)
 
std::istream & operator>> (std::istream &is, Joint &joint)
 
std::istream & operator>> (std::istream &is, Segment &segment)
 
std::istream & operator>> (std::istream &is, Tree &tree)
 
std::istream & operator>> (std::istream &is, Vector &v)
 
std::istream & operator>> (std::istream &is, Wrench &v)
 
std::istream & operator>> (std::istream &is, Frame &T)
 
std::istream & operator>> (std::istream &is, Chain &chain)
 
std::istream & operator>> (std::istream &is, Twist &v)
 
std::istream & operator>> (std::istream &is, Jacobian &jac)
 
std::istream & operator>> (std::istream &is, JntSpaceInertiaMatrix &jntspaceinertiamatrix)
 
std::istream & operator>> (std::istream &is, Rotation2 &r)
 
std::istream & operator>> (std::istream &is, Frame2 &T)
 
std::istream & operator>> (std::istream &is, Rotation &r)
 
std::istream & operator>> (std::istream &is, Vector2 &v)
 
std::istream & operator>> (std::istream &is, JntArray &array)
 
IMETHOD void posrandom (Wrench &a)
 
void posrandom (Stiffness &F)
 
void posrandom (Jacobian< T > &rv)
 
IMETHOD void posrandom (doubleVel &F)
 
IMETHOD void posrandom (VectorVel &a)
 
IMETHOD void posrandom (Vector &a)
 
IMETHOD void posrandom (Twist &a)
 
IMETHOD void posrandom (TwistVel &a)
 
IMETHOD void posrandom (RotationVel &R)
 
void posrandom (double &a)
 
IMETHOD void posrandom (Frame &F)
 
IMETHOD void posrandom (Rotation &R)
 
IMETHOD void posrandom (FrameVel &F)
 
INLINE Rall2d< T, V, S > pow (const Rall2d< T, V, S > &arg, double m)
 
double pow (double a, double b)
 
INLINE Rall1d< T, V, S > pow (const Rall1d< T, V, S > &arg, double m)
 
Chain Puma560 ()
 
double PYTHAG (double a, double b)
 
IMETHOD void random (Rotation &R)
 
IMETHOD void random (Frame &F)
 
IMETHOD void random (Twist &a)
 
IMETHOD void random (Vector &a)
 
IMETHOD void random (RotationVel &R)
 
void random (double &a)
 
void random (Stiffness &F)
 
IMETHOD void random (Wrench &a)
 
void random (Jacobian< T > &rv)
 
IMETHOD void random (VectorVel &a)
 
IMETHOD void random (TwistVel &a)
 
IMETHOD void random (FrameVel &F)
 
IMETHOD void random (doubleVel &F)
 
IMETHOD Rotation Rot (const Vector &axis_a_b)
 
Rotation rotationAngleAxis (const Vector &axis, double angle)
 
INLINE void SetToIdentity (Rall2d< T, V, S > &value)
 
INLINE void SetToIdentity (Rall1d< T, V, S > &value)
 
void SetToIdentity (double &arg)
 
IMETHOD void SetToZero (Vector &v)
 
IMETHOD void SetToZero (Twist &v)
 
IMETHOD void SetToZero (Wrench &v)
 
IMETHOD void SetToZero (Vector2 &v)
 
void SetToZero (TwistVel &v)
 
void SetToZero (JntSpaceInertiaMatrix &mat)
 
INLINE void SetToZero (Rall1d< T, V, S > &value)
 
void SetToZero (JntArray &array)
 
void SetToZero (JntArrayVel &array)
 
INLINE void SetToZero (Rall2d< T, V, S > &value)
 
void SetToZero (JntArrayAcc &array)
 
void SetToZero (Jacobian &jac)
 
void SetToZero (double &arg)
 
void SetToZero (VectorVel &v)
 
double sign (double arg)
 
double SIGN (double a, double b)
 
INLINE Rall1d< T, V, S > sin (const Rall1d< T, V, S > &arg)
 
INLINE Rall2d< T, V, S > sin (const Rall2d< T, V, S > &arg)
 
double sin (double a)
 
INLINE Rall1d< T, V, S > sinh (const Rall1d< T, V, S > &arg)
 
INLINE Rall2d< T, V, S > sinh (const Rall2d< T, V, S > &arg)
 
double sinh (double a)
 
INLINE Rall1d< T, V, S > sqr (const Rall1d< T, V, S > &arg)
 
double sqr (double arg)
 
INLINE Rall2d< T, V, S > sqr (const Rall2d< T, V, S > &arg)
 
double sqrt (double a)
 
INLINE Rall1d< T, V, S > sqrt (const Rall1d< T, V, S > &arg)
 
INLINE Rall2d< T, V, S > sqrt (const Rall2d< T, V, S > &arg)
 
void Subtract (const JntArray &src1, const JntArray &src2, JntArray &dest)
 
void Subtract (const JntArrayAcc &src1, const JntArray &src2, JntArrayAcc &dest)
 
void Subtract (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2, JntSpaceInertiaMatrix &dest)
 
void Subtract (const JntArrayVel &src1, const JntArray &src2, JntArrayVel &dest)
 
void Subtract (const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
 
void Subtract (const JntArrayAcc &src1, const JntArrayVel &src2, JntArrayAcc &dest)
 
void Subtract (const JntArrayVel &src1, const JntArrayVel &src2, JntArrayVel &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)
 
void swap (scoped_ptr< T > &, scoped_ptr< T > &)
 
INLINE Rall2d< T, V, S > tan (const Rall2d< T, V, S > &arg)
 
double tan (double a)
 
INLINE Rall1d< T, V, S > tan (const Rall1d< T, V, S > &arg)
 
double tanh (double a)
 
INLINE Rall1d< T, V, S > tanh (const Rall1d< T, V, S > &arg)
 
INLINE Rall2d< T, V, S > tanh (const Rall2d< T, V, S > &arg)
 
void Twist_to_Eigen (const KDL::Twist &t, Eigen::MatrixBase< Derived > &e)
 
Twist twistvw (const Vector &trans, const Vector &rot)
 
Vector vectorxyz (double a, double b, double c)
 
Wrench wrenchft (const Vector &force, const Vector &torque)
 

Variables

const double deg2rad
 
double epsilon
 
KDLTypekitPlugin KDLTypekit
 
static const double L0
 
static const double L1
 
static const double L2
 
static const double L3
 
static const double L4
 
static const double L5
 
int MAXLENFILENAME
 
static const bool mhi
 
const double PI
 
const double rad2deg
 
int STREAMBUFFERSIZE
 
int VSIZE
 

Function Documentation

Frame KDL::framerv ( const Rotation &  r,
const Vector &  v 
)

Definition at line 8 of file kdlTypekitConstructors.cpp.

Frame KDL::framevr ( const Vector &  v,
const Rotation &  r 
)

Definition at line 4 of file kdlTypekitConstructors.cpp.

template<class KDLType , int size>
double& KDL::get_container_item ( KDLType &  cont,
int  index 
)

Helper functions. Returns a reference to one item in an KDL container.

Parameters
contThe container to access
indexThe item to reference
Returns
A reference to item index

Definition at line 86 of file kdlTypekit.hpp.

template<class KDLType , int size>
double KDL::get_container_item_copy ( const KDLType &  cont,
int  index 
)

Returns a copy to one item in an STL container.

Note
vector<bool> is not supported, since it's not an STL container.
Parameters
contThe container to access
indexThe item to extract from the sequence
Returns
A copy of item index

Definition at line 101 of file kdlTypekit.hpp.

double& KDL::get_item ( JntArray &  v,
int  index 
)

Definition at line 20 of file kdlTypekitJntArray.cpp.

double KDL::get_item_copy ( const JntArray &  v,
int  index 
)

Definition at line 27 of file kdlTypekitJntArray.cpp.

int KDL::get_size ( const JntArray &  v)

Definition at line 35 of file kdlTypekitJntArray.cpp.

void KDL::GetQuaternion ( const Rotation &  rot,
double &  x,
double &  y,
double &  z,
double &  w 
)

Definition at line 14 of file kdlTypekitOperators.cpp.

Rotation KDL::Inverse ( const Rotation &  rot)

Definition at line 6 of file kdlTypekitOperators.cpp.

Frame KDL::Inverse ( const Frame &  f)

Definition at line 10 of file kdlTypekitOperators.cpp.

void KDL::loadChainTypes ( )

Definition at line 18 of file kdlTypekitChain.cpp.

void KDL::loadFrameTypes ( )

Definition at line 28 of file kdlTypekitFrame.cpp.

void KDL::loadJacobianTypes ( )

Definition at line 18 of file kdlTypekitJacobian.cpp.

void KDL::loadJntArrayTypes ( )

Definition at line 184 of file kdlTypekitJntArray.cpp.

void KDL::loadJointTypes ( )

Definition at line 18 of file kdlTypekitJoint.cpp.

void KDL::loadRotationTypes ( )

Definition at line 28 of file kdlTypekitRotation.cpp.

void KDL::loadSegmentTypes ( )

Definition at line 18 of file kdlTypekitSegment.cpp.

void KDL::loadTwistTypes ( )

Definition at line 28 of file kdlTypekitTwist.cpp.

void KDL::loadVectorTypes ( )

Definition at line 28 of file kdlTypekitVector.cpp.

void KDL::loadWrenchTypes ( )

Definition at line 28 of file kdlTypekitWrench.cpp.

Rotation KDL::rotationAngleAxis ( const Vector &  axis,
double  angle 
)

Definition at line 172 of file kdlTypekitConstructors.cpp.

Twist KDL::twistvw ( const Vector &  trans,
const Vector &  rot 
)

Definition at line 19 of file kdlTypekitConstructors.cpp.

Vector KDL::vectorxyz ( double  a,
double  b,
double  c 
)

Definition at line 24 of file kdlTypekitConstructors.cpp.

Wrench KDL::wrenchft ( const Vector &  force,
const Vector &  torque 
)

Definition at line 14 of file kdlTypekitConstructors.cpp.

Variable Documentation

KDLTypekitPlugin KDL::KDLTypekit

The single global instance of the KDL Typekit.

Definition at line 48 of file kdlTypekit.cpp.


kdl_typekit
Author(s): Steven Bellens, Ruben Smits
autogenerated on Wed Jul 3 2019 19:39:45