rallNd.h
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00001 #ifndef RALLND_H
00002 #define RALLND_H
00003 
00004 #include "rall1d.h"
00005 #include "rall1d_io.h"
00006 #include "rall2d.h"
00007 #include "rall2d_io.h"
00059 // N>2:
00060 template <int N>
00061 class RallNd :
00062         public Rall2d< RallNd<N-2>, RallNd<N-2>, double >
00063 {
00064 public:
00065         RallNd() {}
00066         RallNd(const Rall2d< RallNd<N-2>, RallNd<N-2>,double>& arg) : 
00067                 Rall2d< RallNd<N-2>, RallNd<N-2>,double>(arg) {}
00068         RallNd(double value,double d[]) {
00069                 this->t    = RallNd<N-2>(value,d);    // 0 1 2
00070                 this->d    = RallNd<N-2>(d[0],&d[1]); // 1 2 3 iseigenlijk niet nodig
00071                 this->dd   = RallNd<N-2>(d[1],&d[2]); // 2 3 4
00072         }
00073 };
00074 
00075 template <>
00076 class RallNd<2> : public Rall2d<double>  {
00077 public:
00078         RallNd() {}* (dwz. met evenveel numerieke operaties als een 
00079         RallNd(const Rall2d<double>& arg) :
00080                 Rall2d<double>(arg) {}
00081         RallNd(double value,double d[]) {
00082                 t    = value;
00083                 d = d[0];
00084                 dd= d[1];
00085         }
00086 };
00087 
00088 template <>
00089 class RallNd<1> : public Rall1d<double>  {
00090 public:
00091         RallNd() {}
00092         RallNd(const Rall1d<double>& arg) :
00093                 Rall1d<double>(arg) {}
00094         RallNd(double value,double d[]) {
00095                 t    = value;
00096                 grad = d[0];
00097         }
00098 };
00099 
00100 #endif
00101 


orocos_kdl
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autogenerated on Wed Aug 26 2015 15:14:14