dual_quaternion.h
/tmp/ws/src/trac_ik/trac_ik_lib/include/trac_ik/
dual__quaternion_8h
math3d.h
dual_quaternion
double
dot
dual__quaternion_8h.html
a96bb2bef9c83b3728eb71fcc13036f10
(const dual_quaternion &a, const dual_quaternion &b)
dual_quaternion
exp
dual__quaternion_8h.html
a009dae60ba591f268b63605907bb04c8
(dual_quaternion a)
dual_quaternion
log
dual__quaternion_8h.html
a1d5f8768ffa9cf58933952bf3a31f330
(dual_quaternion a)
dual_quaternion
operator!
dual__quaternion_8h.html
aeefdcb1ede5f76c8907e7b649d01043c
(const dual_quaternion &a)
dual_quaternion
operator*
dual__quaternion_8h.html
a1ef585b5174cf9d7541fb042ee4d8476
(const dual_quaternion &a, const dual_quaternion &b)
std::ostream &
operator<<
dual__quaternion_8h.html
a641d392e8a26d15fdda082e06ce0330d
(std::ostream &out, const dual_quaternion &dq)
dual_quaternion
operator~
dual__quaternion_8h.html
aaff8a942c5ee18a007e1ef5d220acea5
(const dual_quaternion &a)
void
set_dual_quaternion_matrix
dual__quaternion_8h.html
a76a6d253a4599c3159727f7e080bce36
(matrix< double > &M, const dual_quaternion &dq, int i=0, int j=0, double w=1.0)
void
set_quaternion_matrix
dual__quaternion_8h.html
a8cd104f55138900f037b0fa398406ebf
(matrix< double > &M, const quaternion< double > &q, int i=0, int j=0, double w=1.0)
int
sign
dual__quaternion_8h.html
a213b31aea44a61fd7773dd1ff8665fc4
(T v)
kdl_tl.cpp
/tmp/ws/src/trac_ik/trac_ik_lib/src/
kdl__tl_8cpp
trac_ik/kdl_tl.hpp
KDL
kdl_tl.hpp
/tmp/ws/src/trac_ik/trac_ik_lib/include/trac_ik/
kdl__tl_8hpp
KDL::ChainIkSolverPos_TL
KDL
TRAC_IK
BasicJointType
namespaceKDL.html
ae1962cb9cb6cad0627e1827071e3ff20
RotJoint
namespaceKDL.html
ae1962cb9cb6cad0627e1827071e3ff20af6f97a1a275e5a5cdb83c760c5aab940
TransJoint
namespaceKDL.html
ae1962cb9cb6cad0627e1827071e3ff20a276798ee46116c2852de51c17e0ec168
Continuous
namespaceKDL.html
ae1962cb9cb6cad0627e1827071e3ff20a76c70fc07fc202b9595c67c737a51b58
IMETHOD Twist
diffRelative
namespaceKDL.html
a909c50341bd06b4a13fd9c91f618b44b
(const Frame &F_a_b1, const Frame &F_a_b2, double dt=1)
math3d.h
/tmp/ws/src/trac_ik/trac_ik_lib/include/trac_ik/
math3d_8h
math3d::color_rgb24
math3d::invalid_vector
math3d::matrix
math3d::matrix3x3
math3d::oriented_point3d
math3d::quaternion
math3d::triangle
math3d::vec3d
math3d
#define
M_PI
math3d_8h.html
ae71449b1cc6e6250b91f539153a7a0d3
vec3d< double >
normal3d
namespacemath3d.html
a3f6f3986347e93c0d2431d5812ded814
vec3d< double >
point3d
namespacemath3d.html
ac16b44a3f36c0f61a54c5f97a7c98c86
std::pair< matrix3x3< double >, point3d >
rigid_motion_t
namespacemath3d.html
a2a1ca474e454713bbffebd378dd4e86a
unsigned int
uint32_t
math3d_8h.html
a435d1572bf3f880d55459d9805097f62
unsigned char
uint8_t
math3d_8h.html
aba7bc1797add20fe3efdf37ced1182c5
bool
almost_zero
namespacemath3d.html
a6044b1be5a6dc8596fb09d80353119f8
(T a, double e)
void
conjugate
namespacemath3d.html
a0bcb3156a3df0ac31a405c62a142c161
(quaternion< T > &q)
vec3d< T >
cross_product
namespacemath3d.html
af819434f5430e6cdb7274aba561726a8
(const vec3d< T > &v1, const vec3d< T > &v2)
double
dist
namespacemath3d.html
a34156307d61c636ea500c51cdd6678f2
(const T &p1, const T &p2)
T
dot
namespacemath3d.html
a977e5fd6f0f340a95bd70d300fe41201
(const quaternion< T > &a, const quaternion< T > &b)
T
dot_product
namespacemath3d.html
abc6e60b3c52ef34e426d2035ba133765
(const vec3d< T > &v1, const vec3d< T > &v2)
double
dot_product
namespacemath3d.html
ac349d8ff1091579210f0869fa92ee783
(const vec3d< T > &v1, const vec3d< S > &v2)
T
dot_product
namespacemath3d.html
a639981f8728f401b5bbceb39bf372a12
(const quaternion< T > &p, const quaternion< T > &q)
vec3d< T >
get_normalize
namespacemath3d.html
a9bcc8340bc2b3e0c6943756846a88f9b
(const vec3d< T > &p)
vec3d< T >
get_rotate
namespacemath3d.html
a97329e36b3f1795b39464cddfb649972
(const vec3d< T > &v, const quaternion< T > &q)
vec3d< T >
get_rotate
namespacemath3d.html
aafd75d6a9deabf0d59c5b9a3a88d95db
(const vec3d< T > &p, const matrix3x3< T > &rot)
vec3d< T >
get_rotate_translate
namespacemath3d.html
a8a7e66fa0958c3eb02c6fa3db9575ea6
(const vec3d< T > &p, const matrix3x3< T > &rot, const point3d &t)
vec3d< T >
get_rotate_translate
namespacemath3d.html
af768a196f9e52a080af4ead00a49eb71
(const vec3d< T > &p, const matrix< T > &rot, const point3d &t)
vec3d< T >
get_rotate_translate
namespacemath3d.html
aff6eee3d95165f30bc9fe71ab7c8e734
(const vec3d< T > &p, const T *rot, const T *t)
vec3d< T >
get_rotate_translate
namespacemath3d.html
a1c6a35ac1e0007a6412eea5c1e69c10d
(const vec3d< T > &v, const quaternion< T > &rot, const point3d &t)
matrix3x3< T >
get_transpose
namespacemath3d.html
a7c969af14b05c0b77f2810124054b979
(const matrix3x3< T > &m)
matrix3x3< T >
identity3x3
namespacemath3d.html
ab33464abf2c62055e191055df961ba3c
()
void
invert
namespacemath3d.html
a4b73a8c08dcbb3cc875996a815cef551
(R &r, T &t)
double
magnitude
namespacemath3d.html
a6149f30261c16dab99f52c8496718f44
(const T &p)
double
median
namespacemath3d.html
a7a6d413c3fd8a41c1af00cdd9a710ae7
(Iterator start, Iterator end)
void
mult_matrix
namespacemath3d.html
a5cdd916e948d33f0e7970c6230738d1e
(const matrix3x3< T > &m1, const matrix3x3< T > &m2, matrix3x3< T > &r)
void
mult_matrix
namespacemath3d.html
adc320801a7f208ff64f68ebbcdfa07fe
(const Rot1 &m1, const Rot2 &m2, Rot3 &r)
void
mult_matrix_inplace
namespacemath3d.html
a389a9726ee3b4a8aa669b27532486cd9
(const matrix3x3< T > &m1, const matrix3x3< T > &m2, matrix3x3< T > &r)
void
mult_quaternion
namespacemath3d.html
ad630187b9430df515e76dd9f5af2902e
(const quaternion< T > &a, const quaternion< T > &b, quaternion< T > &r)
T
norm
namespacemath3d.html
a4bec8e5bb1312b5a2f12ac50541c4e5e
(const quaternion< T > &a)
double
norm2
namespacemath3d.html
a954432307872ae46e637a30dbcf4c014
(const T &v)
void
normalize
namespacemath3d.html
a5114f59f0561f3d80c4542fb0c3b8d69
(quaternion< T > &q)
double
normalize
namespacemath3d.html
a7a93e24bcac87fe99f526bf0c77d1739
(vec3d< T > &p)
quaternion< T >
operator*
namespacemath3d.html
a95813fdac8a5367ad196e4cfda97624a
(const quaternion< T > &a, const quaternion< T > &b)
quaternion< T >
operator+
namespacemath3d.html
a135f3dc74626c2d58d1d56fac5b23ed1
(const quaternion< T > &a, const quaternion< T > &b)
quaternion< T >
operator~
namespacemath3d.html
ac344a97ce3e073d7babc2e49959bbe61
(const quaternion< T > &a)
matrix3x3< T >
quaternion_to_rot_matrix
namespacemath3d.html
af12cd151bb50be9ce88ef6469bc5bfb5
(const quaternion< T > &q)
void
relative_motion
namespacemath3d.html
af12acf9586f48881698ac63e0fb08454
(const matrix3x3< T > &Ri, const point3d &Ti, const matrix3x3< T > &Rj, const point3d &Tj, matrix3x3< T > &Rij, point3d &Tij)
quaternion< T >
rot_matrix_to_quaternion
namespacemath3d.html
a001df62974d8314b513a46f591df8445
(const matrix3x3< T > &m)
void
rotate
namespacemath3d.html
a3e8782ea8742c05bea04b1d10848bdbc
(vec3d< T > &p, const matrix< T > &rot)
void
rotate
namespacemath3d.html
a8061261dfbe6807e91bf0f0b83c73761
(vec3d< T > &p, const matrix3x3< T > &rot)
void
rotate
namespacemath3d.html
a7912e450c77cd86925aeb895966eacb7
(vec3d< T > &p, const matrix< S > &rot)
void
rotate
namespacemath3d.html
a136e40d9439d02fe5766d386deb94859
(vec3d< T > &p, const matrix3x3< S > &rot)
void
rotate
namespacemath3d.html
aed1589940ab8397bb56e4de9a011c834
(vec3d< T > &p, const quaternion< T > &rot)
void
rotate_translate
namespacemath3d.html
a2e273ced84ce3ab79fb316717b00c0e2
(vec3d< T > &v, const RotationType &rot, const point3d &trans)
void
set_identity
namespacemath3d.html
a1a43556607165955ee62c9786e6c822d
(quaternion< T > &q)
void
set_identity
namespacemath3d.html
a05cbbe32c06121ef98ab195de35ee98b
(matrix< T > &m, T val=1)
void
set_identity
namespacemath3d.html
a3cde300ae9781a9eb3557393ab055dee
(matrix3x3< T > &m, T val=1)
double
squared_dist
namespacemath3d.html
af4fa74d780ab9d8c387044159944c8d5
(const vec3d< T > &p1, const vec3d< T > &p2)
void
transpose
namespacemath3d.html
a13aafc19fac89ac73b5ce1a1d63ed613
(matrix< T > &m)
void
transpose
namespacemath3d.html
a3d4b472c1eeda86f4a1e6c23ac67afae
(matrix3x3< T > &m)
void
transpose
namespacemath3d.html
a50d87711392ff38821bb1867f8459d29
(const matrix< T > &src, matrix< T > &dest)
void
transpose
namespacemath3d.html
a6cf66edb00aa93d337f8b77a0b81f397
(const matrix3x3< T > &src, matrix3x3< T > &dest)
static const double
deg_on_rad
namespacemath3d.html
a8f3db0db20a3556fa2ec98ef8a775ab6
static const double
pi
namespacemath3d.html
ae87c968fca69098c3f611f4819924fe8
static const double
rad_on_deg
namespacemath3d.html
a57a228035796970447a54f94759aeaec
nlopt_ik.cpp
/tmp/ws/src/trac_ik/trac_ik_lib/src/
nlopt__ik_8cpp
trac_ik/nlopt_ik.hpp
trac_ik/dual_quaternion.h
NLOPT_IK
void
constrainfuncm
namespaceNLOPT__IK.html
a48c1a6da9465a095574d5f56d97f9ea9
(uint m, double *result, uint n, const double *x, double *grad, void *data)
double
minfunc
namespaceNLOPT__IK.html
a8ae7fcc8897fd4b2c2df8f0a28981adb
(const std::vector< double > &x, std::vector< double > &grad, void *data)
double
minfuncDQ
namespaceNLOPT__IK.html
a0b7f0d20bbce67ad832d89edda3f6600
(const std::vector< double > &x, std::vector< double > &grad, void *data)
double
minfuncL2
namespaceNLOPT__IK.html
ad06855e1d11df63fa17566c2c8a8349d
(const std::vector< double > &x, std::vector< double > &grad, void *data)
double
minfuncSumSquared
namespaceNLOPT__IK.html
a13785f6e1ca2aedaa6c31596a1eebd5b
(const std::vector< double > &x, std::vector< double > &grad, void *data)
dual_quaternion
targetDQ
namespaceNLOPT__IK.html
a7a47e862bf31c8935280e2ed21d2d740
nlopt_ik.hpp
/tmp/ws/src/trac_ik/trac_ik_lib/include/trac_ik/
nlopt__ik_8hpp
trac_ik/kdl_tl.hpp
NLOPT_IK::NLOPT_IK
NLOPT_IK
OptType
namespaceNLOPT__IK.html
a188014d03229b2e33ba303dc7902b38a
Joint
namespaceNLOPT__IK.html
a188014d03229b2e33ba303dc7902b38aa80e4314dedf79ab11f959c4384b99a0f
DualQuat
namespaceNLOPT__IK.html
a188014d03229b2e33ba303dc7902b38aadecb9959999c6059fa6d1e888c451a09
SumSq
namespaceNLOPT__IK.html
a188014d03229b2e33ba303dc7902b38aa25fb880607b8fb66d9aef7f18187f19f
L2
namespaceNLOPT__IK.html
a188014d03229b2e33ba303dc7902b38aa15ad82463f8076d5959ed714e5f36317
trac_ik.cpp
/tmp/ws/src/trac_ik/trac_ik_lib/src/
trac__ik_8cpp
trac_ik/trac_ik.hpp
TRAC_IK
void
normalizeAngle
namespaceTRAC__IK.html
a63957187d69471f9b0922ab6f6e481b4
(double &val, const double &min, const double &max)
void
normalizeAngle
namespaceTRAC__IK.html
aaa556cea26caee6ea1cb4f27ff0bcdd5
(double &val, const double &target)
trac_ik.hpp
/tmp/ws/src/trac_ik/trac_ik_lib/include/trac_ik/
trac__ik_8hpp
trac_ik/nlopt_ik.hpp
TRAC_IK::TRAC_IK
TRAC_IK
SolveType
namespaceTRAC__IK.html
af718f8dd8173681cb3d85876fb5d2f91
Speed
namespaceTRAC__IK.html
af718f8dd8173681cb3d85876fb5d2f91a23fe834c5869bd2c3491272418638b99
Distance
namespaceTRAC__IK.html
af718f8dd8173681cb3d85876fb5d2f91aaaac012235eb2eb6637072b36b7c99e5
Manip1
namespaceTRAC__IK.html
af718f8dd8173681cb3d85876fb5d2f91a5cbfabe019d09b1af51bb33be915fae6
Manip2
namespaceTRAC__IK.html
af718f8dd8173681cb3d85876fb5d2f91a41e2a60888b4c53ac140a9278185f58b
KDL::ChainIkSolverPos_TL
classKDL_1_1ChainIkSolverPos__TL.html
int
CartToJnt
classKDL_1_1ChainIkSolverPos__TL.html
acb915f9097e22bd033f76de41d39426c
(const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out, const KDL::Twist bounds=KDL::Twist::Zero())
ChainIkSolverPos_TL
classKDL_1_1ChainIkSolverPos__TL.html
a53a69d064e9b0e07662a343b5e9f80dd
(const Chain &chain, const JntArray &q_min, const JntArray &q_max, double maxtime=0.005, double eps=1e-3, bool random_restart=false, bool try_jl_wrap=false)
void
setMaxtime
classKDL_1_1ChainIkSolverPos__TL.html
a5b6c07e49a5fa0261c29a1805b8d6f63
(double t)
~ChainIkSolverPos_TL
classKDL_1_1ChainIkSolverPos__TL.html
a1af237585ffc739b7c6fee700c3ac261
()
void
abort
classKDL_1_1ChainIkSolverPos__TL.html
a7b12c2ee452e2fcc91e61b4d818cc9c0
()
void
reset
classKDL_1_1ChainIkSolverPos__TL.html
aee8bd1a1ea9a8e5b9caae1e68a533373
()
static double
fRand
classKDL_1_1ChainIkSolverPos__TL.html
a92420f0bf65f5a84a80ab359b91e86be
(double min, double max)
bool
aborted
classKDL_1_1ChainIkSolverPos__TL.html
a6ae461021fa3d2f7a263cd485e8676af
KDL::Twist
bounds
classKDL_1_1ChainIkSolverPos__TL.html
a1eb21592a320349dda71250e8cffe7b9
const Chain
chain
classKDL_1_1ChainIkSolverPos__TL.html
a8be62d14a53eb95fed86e9d4655e2a3c
JntArray
delta_q
classKDL_1_1ChainIkSolverPos__TL.html
a490de643cbc984a49a8be7cc6fd7bb69
Twist
delta_twist
classKDL_1_1ChainIkSolverPos__TL.html
ab2d1f73a6578f46100ac32fcf65305c1
double
eps
classKDL_1_1ChainIkSolverPos__TL.html
a936d244d119424651f3ff15121dd7760
Frame
f
classKDL_1_1ChainIkSolverPos__TL.html
a2986b59c4a51a7575ebbe7fa15a73aa0
KDL::ChainFkSolverPos_recursive
fksolver
classKDL_1_1ChainIkSolverPos__TL.html
af0733255b211af2e56574d24ec5a8b6f
double
maxtime
classKDL_1_1ChainIkSolverPos__TL.html
ad374b83f7087c9b9ba95b5f3581582c5
JntArray
q_max
classKDL_1_1ChainIkSolverPos__TL.html
ae626dfb26ea3db5fd2cb5461267442e3
JntArray
q_min
classKDL_1_1ChainIkSolverPos__TL.html
a3e947ddac03c5eef02f5a2baa54dda7a
bool
rr
classKDL_1_1ChainIkSolverPos__TL.html
aa7501a5904aa301082c18c18fab9b00a
std::vector< KDL::BasicJointType >
types
classKDL_1_1ChainIkSolverPos__TL.html
a4749bd624f13a48420434170fed10061
KDL::ChainIkSolverVel_pinv
vik_solver
classKDL_1_1ChainIkSolverPos__TL.html
a7f137f3f09a507e886e4c11569143f61
bool
wrap
classKDL_1_1ChainIkSolverPos__TL.html
a87cb474977804ea6216fcf80890cb7f8
friend class
TRAC_IK::TRAC_IK
classKDL_1_1ChainIkSolverPos__TL.html
a81945572f6a8b9dd1864f6433549689c
math3d::color_rgb24
structmath3d_1_1color__rgb24.html
color_rgb24
structmath3d_1_1color__rgb24.html
a98c61e71b0e296759d62b009cfe46649
(uint8_t R, uint8_t G, uint8_t B)
uint8_t
b
structmath3d_1_1color__rgb24.html
a4f4865aadcd647fd6799c61817e8d865
uint8_t
g
structmath3d_1_1color__rgb24.html
a1ccc0a7eb966af426106962f44a46591
uint8_t
r
structmath3d_1_1color__rgb24.html
adf9c15dc5dfe4e70c37aa1ecc9e1d41a
dual_quaternion
structdual__quaternion.html
dual_quaternion
structdual__quaternion.html
ac62c1be24e57fa9eaf9242edea0371f2
(double v=1.0)
dual_quaternion &
exp
structdual__quaternion.html
a83780cfafc1150b5d30fa67b089a156f
()
point3d
get_translation
structdual__quaternion.html
ace1f35fd21a5b4b557edf729bd984c4f
()
dual_quaternion &
log
structdual__quaternion.html
a482799a3bd78cb3b073563bcbac0d670
()
dual_quaternion &
normalize
structdual__quaternion.html
a768afa2d1144c79a3a7bcf17b8cbc859
()
dual_quaternion &
operator*=
structdual__quaternion.html
a607d62d4c6f9baa87d3d851c5378b70d
(double a)
dual_quaternion &
operator+=
structdual__quaternion.html
a549dc195cf2516efe1b68ab5384eb027
(const dual_quaternion &a)
void
to_vector
structdual__quaternion.html
a5cae9b20969ab83acabed710320076f4
(double *p)
static dual_quaternion
convert
structdual__quaternion.html
aa12a1862743d459a08864924972a4139
(const double *p)
static dual_quaternion
rigid_transformation
structdual__quaternion.html
a5fba0f36b01709546950a47749d40eb6
(const quaternion< double > &r, const point3d &t)
quaternion< double >
R
structdual__quaternion.html
ad1d98ac3a9cdf7f4185195b164de6660
quaternion< double >
tR_2
structdual__quaternion.html
a2a67ab7931cf6f02759e530198686ca9
static constexpr double
dq_epsilon
structdual__quaternion.html
ae41ad8c90f3663ca2d119e6c42060a3d
math3d::invalid_vector
classmath3d_1_1invalid__vector.html
invalid_vector
classmath3d_1_1invalid__vector.html
a9bf9a0cf4b8100f225f2ee11d6abc02a
()
invalid_vector
classmath3d_1_1invalid__vector.html
aa3d7e208a0831f31fe34173a9200c51c
(const std::string &msg)
math3d::matrix
classmath3d_1_1matrix.html
T
super::const_iterator
const_iterator
classmath3d_1_1matrix.html
a7c01844815b6f9155f80ef80e8c1e122
super::iterator
iterator
classmath3d_1_1matrix.html
a35a6c10b4922047e7965413bbe8f5dfb
super::reference
at
classmath3d_1_1matrix.html
a645364baf04f21c563b895fbcfee1434
(const size_t r, const size_t c)
super::const_reference
at
classmath3d_1_1matrix.html
a4a452f8a6edcfd40f458dd0b7e804f8c
(size_t r, size_t c) const
iterator
begin
classmath3d_1_1matrix.html
a77723a38cb4d3d3c72b17408baa9b47a
()
const_iterator
begin
classmath3d_1_1matrix.html
aa20581e4e4efc4295d15df554c97bb06
() const
iterator
end
classmath3d_1_1matrix.html
aabb29aaccf4c0b16e908f305b209b6f0
()
const_iterator
end
classmath3d_1_1matrix.html
a057711c247b5a18a2ffd91af551d828e
() const
matrix
classmath3d_1_1matrix.html
a397551d5db05035aa340af6e785dd5e6
()
matrix
classmath3d_1_1matrix.html
a485a360ddac670925cf35f59607aceec
(int w, int h)
matrix
classmath3d_1_1matrix.html
a76c18cee63a4be66605d325885b98d0c
(int w, int h, const T &v)
matrix
classmath3d_1_1matrix.html
af21315b87d22fd38a97754fec9930804
(const matrix< T > &m)
bool
operator!=
classmath3d_1_1matrix.html
a0a09de762f102c885c0617244816c44b
(const matrix< T > &m) const
super::reference
operator()
classmath3d_1_1matrix.html
a9dcb53e06bf4744013c6bebd33bbbd25
(size_t r, size_t c)
super::const_reference
operator()
classmath3d_1_1matrix.html
ac2c867b0b09b6712f05042b4050ce64e
(size_t r, size_t c) const
matrix< T > &
operator*=
classmath3d_1_1matrix.html
a2df8ab5516ca15f6959bb570a7bd3403
(const S &s)
matrix< T > &
operator/=
classmath3d_1_1matrix.html
ad1e98ba8c12cf50a4dad71d7894a8e99
(const S &s)
matrix &
operator=
classmath3d_1_1matrix.html
a8c7152a3e197c84727fa165ba27133c4
(const matrix< T > &m)
bool
operator==
classmath3d_1_1matrix.html
a605f43dcbbef0ded4a428d73f0ed5215
(const matrix< T > &m) const
void
resize
classmath3d_1_1matrix.html
ad96d503391e553b25fd16af6b2d42b69
(int w, int h)
size_t
size
classmath3d_1_1matrix.html
a7804f775d736cec4861f28ec2255fde7
() const
const T *
to_ptr
classmath3d_1_1matrix.html
a8f1486fcc0a67e129cea2371c24212d7
() const
T *
to_ptr
classmath3d_1_1matrix.html
abb550aad56b9509edb88193f3e4cb07c
()
const int &
height
classmath3d_1_1matrix.html
a4fb52bc202653062c85f81f80ec8d390
const int &
width
classmath3d_1_1matrix.html
a643b9be5bd5f1edb02a552e2c3bf072e
std::vector< T >
super
classmath3d_1_1matrix.html
acd85263742e39cf77a7757810f400cba
int
height_
classmath3d_1_1matrix.html
a1b866043a8ecae4227510f8f329bdbea
int
width_
classmath3d_1_1matrix.html
a14b591143209b17fde2bb9cd41089891
friend std::ostream &
operator<<
classmath3d_1_1matrix.html
a9970d6bd4e9147f83a89f77c35fd8fc6
(std::ostream &s, const matrix< T > &m)
math3d::matrix3x3
structmath3d_1_1matrix3x3.html
T
matrix3x3
structmath3d_1_1matrix3x3.html
ac1080faf4e6446189f410dab2893b800
()
matrix3x3
structmath3d_1_1matrix3x3.html
ac1fb0ad557c9832b9030a750e9f4f1c2
(const S *v)
T &
operator()
structmath3d_1_1matrix3x3.html
a69c918004fa5ad6d2638864b52afc4e4
(size_t row, size_t col)
const T &
operator()
structmath3d_1_1matrix3x3.html
ac61393143b2196f9e79f79e274e57706
(size_t row, size_t col) const
void
set_column
structmath3d_1_1matrix3x3.html
a643494c19abf98c49ac97a6724861ae6
(size_t c, const vec3d< T > &v)
int
height
structmath3d_1_1matrix3x3.html
a061b6cd8e64cdfbe2da53109c5a2228d
T
r00
structmath3d_1_1matrix3x3.html
a7f280d0c2ad39574fd6dd13506461d66
T
r01
structmath3d_1_1matrix3x3.html
a7be507c7a931c050ae2164d591521300
T
r02
structmath3d_1_1matrix3x3.html
a95e154a7d96cf9629678a451d82ed6d4
T
r10
structmath3d_1_1matrix3x3.html
a7ba15351bd82371afeb04c1d8e34754d
T
r11
structmath3d_1_1matrix3x3.html
ad4d1aa86fc2ffe9fd4eb59b77d1ecb68
T
r12
structmath3d_1_1matrix3x3.html
ae4cba9e2e7b6767249dd72d15f417ab6
T
r20
structmath3d_1_1matrix3x3.html
ad553441f0ae9a30d0adf759b9520adad
T
r21
structmath3d_1_1matrix3x3.html
afb756a89e378ea25cbd7d7fabac97c70
T
r22
structmath3d_1_1matrix3x3.html
ab91dd1376465a017aa7d650bacac6c02
int
width
structmath3d_1_1matrix3x3.html
a6bd4dab33ee0c9a3522ba8e0c335ef73
friend std::ostream &
operator<<
structmath3d_1_1matrix3x3.html
a89cd5fbbe4fceb5214e79228bcd864f9
(std::ostream &s, const matrix3x3< T > &m)
NLOPT_IK::NLOPT_IK
classNLOPT__IK_1_1NLOPT__IK.html
void
cartDQError
classNLOPT__IK_1_1NLOPT__IK.html
aa5fae7e22eceef1a2334f152d796c6ab
(const std::vector< double > &x, double error[])
void
cartL2NormError
classNLOPT__IK_1_1NLOPT__IK.html
a73b6b8160ebbd9edaaf62af7eda1aced
(const std::vector< double > &x, double error[])
void
cartSumSquaredError
classNLOPT__IK_1_1NLOPT__IK.html
a2fe48c6b6658b80a4b4d0af5c60e975e
(const std::vector< double > &x, double error[])
int
CartToJnt
classNLOPT__IK_1_1NLOPT__IK.html
a2179617f946254ab5005567b80a01296
(const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out, const KDL::Twist bounds=KDL::Twist::Zero(), const KDL::JntArray &q_desired=KDL::JntArray())
double
minJoints
classNLOPT__IK_1_1NLOPT__IK.html
a1c691fe035e434982d7572e7a63b5bde
(const std::vector< double > &x, std::vector< double > &grad)
NLOPT_IK
classNLOPT__IK_1_1NLOPT__IK.html
ac085096093f877e3aa6e48a051c901b4
(const KDL::Chain &chain, const KDL::JntArray &q_min, const KDL::JntArray &q_max, double maxtime=0.005, double eps=1e-3, OptType type=SumSq)
void
setMaxtime
classNLOPT__IK_1_1NLOPT__IK.html
a7937363d4d3a0215725cb75915ffcdaf
(double t)
~NLOPT_IK
classNLOPT__IK_1_1NLOPT__IK.html
a901d896feb3f10fb927ca9ed3c8036f7
()
void
abort
classNLOPT__IK_1_1NLOPT__IK.html
ad628f7dc7461c0b68b1a7b2e7b25fc08
()
void
reset
classNLOPT__IK_1_1NLOPT__IK.html
a99f6079273541e0a549dacd9aba5e024
()
static double
fRand
classNLOPT__IK_1_1NLOPT__IK.html
abd91d4161fe56962841feaab7ad6d386
(double min, double max)
bool
aborted
classNLOPT__IK_1_1NLOPT__IK.html
a12b6ac0d2a2680dc3e4044cfcf977620
std::vector< double >
best_x
classNLOPT__IK_1_1NLOPT__IK.html
adbbe67c5a7e11a6b326fe5cb8753f506
KDL::Twist
bounds
classNLOPT__IK_1_1NLOPT__IK.html
a2e69733b948589f425ce5fa632a27145
const KDL::Chain
chain
classNLOPT__IK_1_1NLOPT__IK.html
a16988a8fe9e3cf2fba39e457ed6ce935
KDL::Frame
currentPose
classNLOPT__IK_1_1NLOPT__IK.html
abfa48523cce742507f6a4b7812cab47a
std::vector< double >
des
classNLOPT__IK_1_1NLOPT__IK.html
a3c6ed891dc5e207604b88c807de5ea23
double
eps
classNLOPT__IK_1_1NLOPT__IK.html
a1a50ce7e010ce2ee0c53e06d900ea5f7
KDL::ChainFkSolverPos_recursive
fksolver
classNLOPT__IK_1_1NLOPT__IK.html
a4fd4abb9eb2c17a7de4ad12adb2f1343
int
iter_counter
classNLOPT__IK_1_1NLOPT__IK.html
ac51822242bc76611678a02d69956fcb5
std::vector< double >
lb
classNLOPT__IK_1_1NLOPT__IK.html
a6361827b705b1189b8c88866a364d4e8
double
maxtime
classNLOPT__IK_1_1NLOPT__IK.html
a55792a7167e51cd523a0a7506bf1da32
nlopt::opt
opt
classNLOPT__IK_1_1NLOPT__IK.html
ace9525e69a40fa0a8c2a05498471bc44
int
progress
classNLOPT__IK_1_1NLOPT__IK.html
aa11d0afbc9bf667cd89dafbbe66c5fb0
KDL::Frame
targetPose
classNLOPT__IK_1_1NLOPT__IK.html
ac0e7e68e5629686616c72510e83db5fa
OptType
TYPE
classNLOPT__IK_1_1NLOPT__IK.html
aab42527969385a826427b546ffeec62b
std::vector< KDL::BasicJointType >
types
classNLOPT__IK_1_1NLOPT__IK.html
a983a26b6171c7f3d1032917e787f299a
std::vector< double >
ub
classNLOPT__IK_1_1NLOPT__IK.html
a293dcc7ed0913cbecc443279cee5a9c0
KDL::Frame
x_out
classNLOPT__IK_1_1NLOPT__IK.html
a6fa149ac41b7c63b8a5afbfbf29f9e24
KDL::Frame
x_target
classNLOPT__IK_1_1NLOPT__IK.html
a596db3ae8971bc812618a27516ee763b
KDL::Frame
y_out
classNLOPT__IK_1_1NLOPT__IK.html
ac21d9f8e38fea29231d5dac157aa6a76
KDL::Frame
y_target
classNLOPT__IK_1_1NLOPT__IK.html
a73807af7dd144151114d6707d17495cb
KDL::Frame
z_target
classNLOPT__IK_1_1NLOPT__IK.html
ac38179a467fe0e8361ceb8d8e9a19639
KDL::Frame
z_up
classNLOPT__IK_1_1NLOPT__IK.html
aa895ec01ba7fc4ba93745d49f64b0e06
friend class
TRAC_IK::TRAC_IK
classNLOPT__IK_1_1NLOPT__IK.html
a81945572f6a8b9dd1864f6433549689c
math3d::oriented_point3d
classmath3d_1_1oriented__point3d.html
vec3d< double >
oriented_point3d
classmath3d_1_1oriented__point3d.html
a7aea86af7de03d0beb95e5ee4ff7c77e
()
oriented_point3d
classmath3d_1_1oriented__point3d.html
ae3ca857974c220976755485aa1ad3072
(const point3d &p)
oriented_point3d
classmath3d_1_1oriented__point3d.html
a529201e252c911f55eb6353f1979617b
(double xx, double yy, double zz)
oriented_point3d
classmath3d_1_1oriented__point3d.html
a0803a56f410adfc86d8842f152996fa6
(const oriented_point3d &p)
oriented_point3d
classmath3d_1_1oriented__point3d.html
abe2d1a1236e363834a8e8b63b752e865
(const point3d &p, const normal3d &nn)
normal3d
n
classmath3d_1_1oriented__point3d.html
ace4f95d6b6bca8a96063a22b006ec48f
math3d::quaternion
structmath3d_1_1quaternion.html
T
quaternion< T > &
operator*=
structmath3d_1_1quaternion.html
ac14a0fc109dea3e9fedab60a61ec5520
(T a)
quaternion< T > &
operator+=
structmath3d_1_1quaternion.html
a50529e56a0b88bbc9d8951e1e1728c17
(const quaternion< T > &a)
quaternion
structmath3d_1_1quaternion.html
a6211f03d73932fab3ed0921d0368e8ec
(T v=0)
quaternion
structmath3d_1_1quaternion.html
aef247ee044dfb341179cfd0dae37ac81
(T ww, T ii, T jj, T kk)
void
to_vector
structmath3d_1_1quaternion.html
a1be6f18bfb3422444e18fc9467cb070a
(T *p) const
static quaternion< T >
convert
structmath3d_1_1quaternion.html
a1d5de4882a0033e79444465d886b4c1e
(const vec3d< T > &p)
static quaternion< T >
convert
structmath3d_1_1quaternion.html
a2568d5443d6f5362e6252710d12cb006
(const T *p)
T
i
structmath3d_1_1quaternion.html
a232b6f5a82ffd2cdc779731b86e7cb28
T
j
structmath3d_1_1quaternion.html
ab2d084766b9edfc2cd179370027ebf9f
T
k
structmath3d_1_1quaternion.html
ad645abbe05d6aaba9b32d983d93a467b
T
w
structmath3d_1_1quaternion.html
a6a055ac4743a21b1e79918ab13d252cd
friend std::ostream &
operator<<
structmath3d_1_1quaternion.html
a9bc3b039311e5571b40ffbdd339bdf22
(std::ostream &os, const quaternion< T > &q)
friend std::istream &
operator>>
structmath3d_1_1quaternion.html
a950b7d40654282e902fe113d9e4932ac
(std::istream &is, quaternion< T > &q)
quaternion< double >
structmath3d_1_1quaternion.html
quaternion< double > &
operator*=
structmath3d_1_1quaternion.html
ac14a0fc109dea3e9fedab60a61ec5520
(doublea)
quaternion< double > &
operator+=
structmath3d_1_1quaternion.html
a50529e56a0b88bbc9d8951e1e1728c17
(const quaternion< double > &a)
quaternion
structmath3d_1_1quaternion.html
a6211f03d73932fab3ed0921d0368e8ec
(doublev=0)
quaternion
structmath3d_1_1quaternion.html
aef247ee044dfb341179cfd0dae37ac81
(doubleww, doubleii, doublejj, doublekk)
void
to_vector
structmath3d_1_1quaternion.html
a1be6f18bfb3422444e18fc9467cb070a
(double *p) const
static quaternion< double >
convert
structmath3d_1_1quaternion.html
a1d5de4882a0033e79444465d886b4c1e
(const vec3d< double > &p)
static quaternion< double >
convert
structmath3d_1_1quaternion.html
a2568d5443d6f5362e6252710d12cb006
(const double *p)
double
i
structmath3d_1_1quaternion.html
a232b6f5a82ffd2cdc779731b86e7cb28
double
j
structmath3d_1_1quaternion.html
ab2d084766b9edfc2cd179370027ebf9f
double
k
structmath3d_1_1quaternion.html
ad645abbe05d6aaba9b32d983d93a467b
double
w
structmath3d_1_1quaternion.html
a6a055ac4743a21b1e79918ab13d252cd
friend std::ostream &
operator<<
structmath3d_1_1quaternion.html
a9bc3b039311e5571b40ffbdd339bdf22
(std::ostream &os, const quaternion< double > &q)
friend std::istream &
operator>>
structmath3d_1_1quaternion.html
a950b7d40654282e902fe113d9e4932ac
(std::istream &is, quaternion< double > &q)
TRAC_IK::TRAC_IK
classTRAC__IK_1_1TRAC__IK.html
int
CartToJnt
classTRAC__IK_1_1TRAC__IK.html
af093d155f2d79105c6ec62c02cf47e1a
(const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out, const KDL::Twist &bounds=KDL::Twist::Zero())
bool
getKDLChain
classTRAC__IK_1_1TRAC__IK.html
acf36ae6b9773eed5992648f6d5912599
(KDL::Chain &chain_)
bool
getKDLLimits
classTRAC__IK_1_1TRAC__IK.html
afc911c3ec0270fa2420c208cb5aee2b5
(KDL::JntArray &lb_, KDL::JntArray &ub_)
bool
getSolutions
classTRAC__IK_1_1TRAC__IK.html
aab8afe8d42e3dfbcf7632cd9e28e75e0
(std::vector< KDL::JntArray > &solutions_)
bool
getSolutions
classTRAC__IK_1_1TRAC__IK.html
afdfad6e949566a8ada113dd8bb3efc13
(std::vector< KDL::JntArray > &solutions_, std::vector< std::pair< double, uint > > &errors_)
bool
setKDLLimits
classTRAC__IK_1_1TRAC__IK.html
a6256c70ae947482ea594a0bd76249cd5
(KDL::JntArray &lb_, KDL::JntArray &ub_)
void
SetSolveType
classTRAC__IK_1_1TRAC__IK.html
a32120c7560aadc3171dc290a640737fa
(SolveType _type)
TRAC_IK
classTRAC__IK_1_1TRAC__IK.html
a65aa7452b9056ef45cdc1b4180620823
(const KDL::Chain &_chain, const KDL::JntArray &_q_min, const KDL::JntArray &_q_max, double _maxtime=0.005, double _eps=1e-5, SolveType _type=Speed)
TRAC_IK
classTRAC__IK_1_1TRAC__IK.html
a18ca0ea66603bc72118cbef14969cca1
(const std::string &base_link, const std::string &tip_link, const std::string &URDF_param="/robot_description", double _maxtime=0.005, double _eps=1e-5, SolveType _type=Speed)
~TRAC_IK
classTRAC__IK_1_1TRAC__IK.html
a31e642b69a1d44550f8d1d994be57ea8
()
static double
JointErr
classTRAC__IK_1_1TRAC__IK.html
a13c5d0206917db768becab25c33f44af
(const KDL::JntArray &arr1, const KDL::JntArray &arr2)
void
initialize
classTRAC__IK_1_1TRAC__IK.html
ab72d2d56d2ff4e63c3b5f105043bb302
()
double
manipPenalty
classTRAC__IK_1_1TRAC__IK.html
abe2d44c14074c55fa14720a588ce4576
(const KDL::JntArray &)
double
ManipValue1
classTRAC__IK_1_1TRAC__IK.html
a34db35355efb42b86fc147f48aa9f7ab
(const KDL::JntArray &)
double
ManipValue2
classTRAC__IK_1_1TRAC__IK.html
a5a4e7f37158a3c8e030683f514172766
(const KDL::JntArray &)
bool
myEqual
classTRAC__IK_1_1TRAC__IK.html
a6eb6bb1aef3980630679c8c2d8523201
(const KDL::JntArray &a, const KDL::JntArray &b)
void
normalize_limits
classTRAC__IK_1_1TRAC__IK.html
a28f151c846797c72625d6d7c3fec72b1
(const KDL::JntArray &seed, KDL::JntArray &solution)
void
normalize_seed
classTRAC__IK_1_1TRAC__IK.html
a80eb8bf32c2cdbe581669ff8fff272ed
(const KDL::JntArray &seed, KDL::JntArray &solution)
bool
runKDL
classTRAC__IK_1_1TRAC__IK.html
ae03a3b4ecd0d0632c95132770ef82fe3
(const KDL::JntArray &q_init, const KDL::Frame &p_in)
bool
runNLOPT
classTRAC__IK_1_1TRAC__IK.html
ab65051bb1f90a87692cfa14dab4ffa4d
(const KDL::JntArray &q_init, const KDL::Frame &p_in)
bool
runSolver
classTRAC__IK_1_1TRAC__IK.html
a2a254329bfe00c6864aefcd328b9dd35
(T1 &solver, T2 &other_solver, const KDL::JntArray &q_init, const KDL::Frame &p_in)
bool
unique_solution
classTRAC__IK_1_1TRAC__IK.html
a9ca8475c2d48c37acedd8a7a5e6a7da7
(const KDL::JntArray &sol)
static double
fRand
classTRAC__IK_1_1TRAC__IK.html
a9a1337377a4db4667b394534fa4562a0
(double min, double max)
KDL::Twist
bounds
classTRAC__IK_1_1TRAC__IK.html
af99e9de674cd2e2fe60598ba91fac539
KDL::Chain
chain
classTRAC__IK_1_1TRAC__IK.html
a09dfa6ee0c733e7356406d2450c804e8
double
eps
classTRAC__IK_1_1TRAC__IK.html
afc17ca9a1dbd386d2a3cd349056be843
std::vector< std::pair< double, uint > >
errors
classTRAC__IK_1_1TRAC__IK.html
a80a88d1b321a5d960242bd607dcfb7d1
std::unique_ptr< KDL::ChainIkSolverPos_TL >
iksolver
classTRAC__IK_1_1TRAC__IK.html
ae1b38a9beaeb4d1ecfaf7e0f580030a0
bool
initialized
classTRAC__IK_1_1TRAC__IK.html
a540fbe827d1173f33c0efe8542c158e1
std::unique_ptr< KDL::ChainJntToJacSolver >
jacsolver
classTRAC__IK_1_1TRAC__IK.html
a9cfdb82a3b161a1e7287310dbf395f73
KDL::JntArray
lb
classTRAC__IK_1_1TRAC__IK.html
afd8e538233cabde078268e6d63203a22
double
maxtime
classTRAC__IK_1_1TRAC__IK.html
a7fb309b121b1573766faceabb580209f
std::mutex
mtx_
classTRAC__IK_1_1TRAC__IK.html
ad62f958dc5067066ec1d93af601abe98
std::unique_ptr< NLOPT_IK::NLOPT_IK >
nl_solver
classTRAC__IK_1_1TRAC__IK.html
a55c6726d308f83f884c74b11ac260b13
std::vector< KDL::JntArray >
solutions
classTRAC__IK_1_1TRAC__IK.html
a9b7e6ab187bfd5d5864fab253f9a8a6b
SolveType
solvetype
classTRAC__IK_1_1TRAC__IK.html
a0ece917580656c1470359a48237e0bc6
boost::posix_time::ptime
start_time
classTRAC__IK_1_1TRAC__IK.html
a971c58a8a772bd106962960163ac0996
std::thread
task1
classTRAC__IK_1_1TRAC__IK.html
aea819b3cffd8237dcfdafa082f35a72f
std::thread
task2
classTRAC__IK_1_1TRAC__IK.html
aa70dc0f23a6c9bdd3ff4697d04b0b373
std::vector< KDL::BasicJointType >
types
classTRAC__IK_1_1TRAC__IK.html
ac371778ab75d862aa5a84c8b382b68a5
KDL::JntArray
ub
classTRAC__IK_1_1TRAC__IK.html
aa768035c49c0e984d9fb0ae2c3243530
math3d::triangle
structmath3d_1_1triangle.html
triangle
structmath3d_1_1triangle.html
a8a2744455f063e3bf54c94c58c0919ff
()
triangle
structmath3d_1_1triangle.html
acede05b13468e85ae1156f1fd64f7af5
(int id0, int id1, int id2)
triangle
structmath3d_1_1triangle.html
a6f2c03ec1dbd09e70ccafe63d02c33de
(const oriented_point3d &p0_, const oriented_point3d &p1_, const oriented_point3d &p2_, const normal3d &n_)
triangle
structmath3d_1_1triangle.html
a1281b8ee33e6b4fb4bb3a835a64de861
(const oriented_point3d &p0_, const oriented_point3d &p1_, const oriented_point3d &p2_, const normal3d &n_, int id0_, int id1_, int id2_)
triangle
structmath3d_1_1triangle.html
a8bbb629ffe457e22ed0655637cbd70eb
(const point3d &p0_, const point3d &p1_, const point3d &p2_, const normal3d &n_)
int
id0
structmath3d_1_1triangle.html
ac8004ed1ded5950c4eef8261d6915e22
int
id1
structmath3d_1_1triangle.html
ad3505d4dddc0942841f430b88c039dfd
int
id2
structmath3d_1_1triangle.html
abc04a393acb00fb0a7116397533521df
normal3d
n
structmath3d_1_1triangle.html
a8db3846876bcbf4d19ee9637a19288e5
oriented_point3d
p0
structmath3d_1_1triangle.html
ac28fa405b122973e492add98a512d13a
oriented_point3d
p1
structmath3d_1_1triangle.html
a0ea69e8e6c83002db432b1c7ad2cdff1
oriented_point3d
p2
structmath3d_1_1triangle.html
aaa2244afbb836c5bd624049f8e541776
friend std::ostream &
operator<<
structmath3d_1_1triangle.html
a7086a8d2df1a322dd8213e5c59de805a
(std::ostream &o, const triangle &t)
math3d::vec3d
structmath3d_1_1vec3d.html
T
bool
operator!=
structmath3d_1_1vec3d.html
ad48a0d16ea0068cc2598c110f5b81ae8
(const vec3d &o) const
bool
operator!=
structmath3d_1_1vec3d.html
a6af146242ea5902c06aa1ad2a658ce8f
(const vec3d< S > &o) const
vec3d< T > &
operator*=
structmath3d_1_1vec3d.html
a8ffd24431fd760005b86441785b7e185
(const Scalar &s)
vec3d< T >
operator+
structmath3d_1_1vec3d.html
a3486ba253eade9216eb318ef64b11814
(const vec3d< T > &p) const
vec3d< T > &
operator+=
structmath3d_1_1vec3d.html
a07ec0bcbb17af08c89969789448c4b1a
(const vec3d< S > &p)
vec3d< T > &
operator+=
structmath3d_1_1vec3d.html
aa2eaa811441797b45201c693d784ee5a
(const vec3d< T > &p)
vec3d< T >
operator-
structmath3d_1_1vec3d.html
a47d638c94df8092cd45a2a6c5d7eff5c
(const vec3d< T > &p) const
vec3d< T >
operator-
structmath3d_1_1vec3d.html
ab6a261325cb8ef01b740fac604399793
() const
vec3d< T > &
operator-=
structmath3d_1_1vec3d.html
a33456a8c2d6aaac5f5a87e20b1defcb4
(const vec3d< S > &p)
vec3d< T > &
operator-=
structmath3d_1_1vec3d.html
a46ad32e1f627711c2a5b41e8b422f478
(const vec3d< T > &p)
vec3d< T > &
operator/=
structmath3d_1_1vec3d.html
aa926acf0369aec45764ccafb9bd558f2
(const Scalar &s)
bool
operator==
structmath3d_1_1vec3d.html
a5a48e2e4b8b8610bc150b43a1bc2df85
(const vec3d &o) const
bool
operator==
structmath3d_1_1vec3d.html
a1038bc63be74743e5a0c1bbd5eedb2fc
(const vec3d< S > &o) const
vec3d
structmath3d_1_1vec3d.html
a9d7b1f79b7a7882a251aad9e79e4a27f
()
vec3d
structmath3d_1_1vec3d.html
a54f1c54162b7a8c1430145a4d71cbfbc
(T x_, T y_, T z_)
vec3d
structmath3d_1_1vec3d.html
a9e9785b3bbc5014e9bc39a430fc3e44f
(const vec3d< S > &s)
vec3d
structmath3d_1_1vec3d.html
a76d9267dcd3be29de7d2c239f1fc012f
(const S *s)
T
x
structmath3d_1_1vec3d.html
a1065770533920946d1bf3a8f831da3fe
T
y
structmath3d_1_1vec3d.html
abe4b25501b8a64362041ae1430f78437
T
z
structmath3d_1_1vec3d.html
aaccba4853c63f6cc8e9978eb537c347f
friend vec3d< T >
operator*
structmath3d_1_1vec3d.html
a90f5d14e018ba0af49b8e42ac05f0332
(const vec3d< T > &p, const Scalar &s)
friend vec3d< T >
operator*
structmath3d_1_1vec3d.html
a494bc797b53db59c392dd32a04177176
(const Scalar &s, const vec3d< T > &p)
friend vec3d< T >
operator/
structmath3d_1_1vec3d.html
a4291c2d36d9af1d5aa56f163947282fe
(const vec3d< T > &p, const Scalar &s)
friend std::ostream &
operator<<
structmath3d_1_1vec3d.html
ae0eafe2f2679d5a343477e68096f1439
(std::ostream &os, const vec3d< T > &p)
friend std::istream &
operator>>
structmath3d_1_1vec3d.html
aed4695fbef265668a232a8981b11f184
(std::istream &is, vec3d< T > &p)
vec3d< double >
structmath3d_1_1vec3d.html
bool
operator!=
structmath3d_1_1vec3d.html
ad48a0d16ea0068cc2598c110f5b81ae8
(const vec3d &o) const
bool
operator!=
structmath3d_1_1vec3d.html
a6af146242ea5902c06aa1ad2a658ce8f
(const vec3d< S > &o) const
vec3d< double > &
operator*=
structmath3d_1_1vec3d.html
a8ffd24431fd760005b86441785b7e185
(const Scalar &s)
vec3d< double >
operator+
structmath3d_1_1vec3d.html
a3486ba253eade9216eb318ef64b11814
(const vec3d< double > &p) const
vec3d< double > &
operator+=
structmath3d_1_1vec3d.html
a07ec0bcbb17af08c89969789448c4b1a
(const vec3d< S > &p)
vec3d< double > &
operator+=
structmath3d_1_1vec3d.html
aa2eaa811441797b45201c693d784ee5a
(const vec3d< double > &p)
vec3d< double >
operator-
structmath3d_1_1vec3d.html
a47d638c94df8092cd45a2a6c5d7eff5c
(const vec3d< double > &p) const
vec3d< double >
operator-
structmath3d_1_1vec3d.html
ab6a261325cb8ef01b740fac604399793
() const
vec3d< double > &
operator-=
structmath3d_1_1vec3d.html
a33456a8c2d6aaac5f5a87e20b1defcb4
(const vec3d< S > &p)
vec3d< double > &
operator-=
structmath3d_1_1vec3d.html
a46ad32e1f627711c2a5b41e8b422f478
(const vec3d< double > &p)
vec3d< double > &
operator/=
structmath3d_1_1vec3d.html
aa926acf0369aec45764ccafb9bd558f2
(const Scalar &s)
bool
operator==
structmath3d_1_1vec3d.html
a5a48e2e4b8b8610bc150b43a1bc2df85
(const vec3d &o) const
bool
operator==
structmath3d_1_1vec3d.html
a1038bc63be74743e5a0c1bbd5eedb2fc
(const vec3d< S > &o) const
vec3d
structmath3d_1_1vec3d.html
a9d7b1f79b7a7882a251aad9e79e4a27f
()
vec3d
structmath3d_1_1vec3d.html
a54f1c54162b7a8c1430145a4d71cbfbc
(doublex_, doubley_, doublez_)
vec3d
structmath3d_1_1vec3d.html
a9e9785b3bbc5014e9bc39a430fc3e44f
(const vec3d< S > &s)
vec3d
structmath3d_1_1vec3d.html
a76d9267dcd3be29de7d2c239f1fc012f
(const S *s)
double
x
structmath3d_1_1vec3d.html
a1065770533920946d1bf3a8f831da3fe
double
y
structmath3d_1_1vec3d.html
abe4b25501b8a64362041ae1430f78437
double
z
structmath3d_1_1vec3d.html
aaccba4853c63f6cc8e9978eb537c347f
friend vec3d< double >
operator*
structmath3d_1_1vec3d.html
a90f5d14e018ba0af49b8e42ac05f0332
(const vec3d< double > &p, const Scalar &s)
friend vec3d< double >
operator*
structmath3d_1_1vec3d.html
a494bc797b53db59c392dd32a04177176
(const Scalar &s, const vec3d< double > &p)
friend vec3d< double >
operator/
structmath3d_1_1vec3d.html
a4291c2d36d9af1d5aa56f163947282fe
(const vec3d< double > &p, const Scalar &s)
friend std::ostream &
operator<<
structmath3d_1_1vec3d.html
ae0eafe2f2679d5a343477e68096f1439
(std::ostream &os, const vec3d< double > &p)
friend std::istream &
operator>>
structmath3d_1_1vec3d.html
aed4695fbef265668a232a8981b11f184
(std::istream &is, vec3d< double > &p)
KDL
namespaceKDL.html
KDL::ChainIkSolverPos_TL
Rall2d< double, double, double >
doubleAcc
namespaceKDL.html
a931155039a40a3f75d0150bed1055206
Rall1d< double >
doubleVel
namespaceKDL.html
a6725eee11f82dfb8f65f78b107bbe7e8
std::map< std::string, Frame >
Frames
namespaceKDL.html
a19abc72c063bbf7718e2299712003478
std::map< std::string, Jacobian >
Jacobians
namespaceKDL.html
ad23eebdce1073711bb4db8f9fa568362
std::map< std::string, TreeElement >
SegmentMap
namespaceKDL.html
a6bfcccbcc840654a88822ddd0ee6bdaa
TreeElement
TreeElementType
namespaceKDL.html
a3816afaee547d0e1a8e3acc39e6ed0d9
std::map< std::string, Twist >
Twists
namespaceKDL.html
a48ceacb8e88b1c7009802cdf75ac5b87
std::vector< Wrench >
Wrenches
namespaceKDL.html
afeffe2d8d9e5e5cfbad0fc90b720c264
std::map< std::string, Wrench >
WrenchMap
namespaceKDL.html
a6461f6198aeae25076631dfd74486f8f
BasicJointType
namespaceKDL.html
ae1962cb9cb6cad0627e1827071e3ff20
RotJoint
namespaceKDL.html
ae1962cb9cb6cad0627e1827071e3ff20af6f97a1a275e5a5cdb83c760c5aab940
TransJoint
namespaceKDL.html
ae1962cb9cb6cad0627e1827071e3ff20a276798ee46116c2852de51c17e0ec168
Continuous
namespaceKDL.html
ae1962cb9cb6cad0627e1827071e3ff20a76c70fc07fc202b9595c67c737a51b58
void
_check_istream
namespaceKDL.html
af921988409536d4c97f24f6a2583ac38
(std::istream &is)
INLINE Rall1d< T, V, S >
abs
namespaceKDL.html
affe10f5ae1a0fdbd042580f06b703999
(const Rall1d< T, V, S > &x)
INLINE Rall2d< T, V, S >
abs
namespaceKDL.html
a862fb83a9d0c8d003dfa59fc280c12c3
(const Rall2d< T, V, S > &x)
double
acos
namespaceKDL.html
a4c7942715b046bd6f4dfb8001f2beb4c
(double a)
INLINE Rall1d< T, V, S >
acos
namespaceKDL.html
ac6367033b9a758525a780a270e70a0ec
(const Rall1d< T, V, S > &x)
INLINE Rall2d< T, V, S >
acos
namespaceKDL.html
a00fb9a1e597465cbd15c4d50961cf1ae
(const Rall2d< T, V, S > &arg)
void
Add
namespaceKDL.html
a8315fb2791bd487674d77c3ad66a7135
(const JntArrayVel &src1, const JntArray &src2, JntArrayVel &dest)
void
Add
namespaceKDL.html
ac9ab98846beb21a1e6507218edda37b0
(const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
void
Add
namespaceKDL.html
a6267b92f0a4a416a00a1774b5f565d5e
(const JntArrayAcc &src1, const JntArrayVel &src2, JntArrayAcc &dest)
void
Add
namespaceKDL.html
a576562dc10e56a5f4cd88840031b9714
(const JntArrayAcc &src1, const JntArray &src2, JntArrayAcc &dest)
void
Add
namespaceKDL.html
af635568f6c7c9d282230d7ef6aaf2c8a
(const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2, JntSpaceInertiaMatrix &dest)
void
Add
namespaceKDL.html
a3247ff837ae01a286d6f267f3611bd78
(const JntArray &src1, const JntArray &src2, JntArray &dest)
void
Add
namespaceKDL.html
a869bd80558b4be8a8481620a47883a53
(const JntArrayVel &src1, const JntArrayVel &src2, JntArrayVel &dest)
IMETHOD VectorVel
addDelta
namespaceKDL.html
ab8f44efdaa9efac075dabe72b9b1d793
(const VectorVel &a, const VectorVel &da, double dt=1.0)
IMETHOD RotationVel
addDelta
namespaceKDL.html
aab054566b4b7c16b491d1fd24a209b8d
(const RotationVel &a, const VectorVel &da, double dt=1.0)
IMETHOD FrameVel
addDelta
namespaceKDL.html
afc209ec5b445dbeb2080f137428469d0
(const FrameVel &a, const TwistVel &da, double dt=1.0)
IMETHOD Vector
addDelta
namespaceKDL.html
ac90990ec8c80f1c7a411052f6b1f322b
(const Vector &p_w_a, const Vector &p_w_da, double dt=1)
IMETHOD Rotation
addDelta
namespaceKDL.html
a2a84a971a8a4300f6b4dd97f40479029
(const Rotation &R_w_a, const Vector &da_w, double dt=1)
IMETHOD Frame
addDelta
namespaceKDL.html
a57e682fab9c7fb9fe18145310d9984d5
(const Frame &F_w_a, const Twist &da_w, double dt=1)
IMETHOD Twist
addDelta
namespaceKDL.html
a32903427965bec95694731b3ad6e4cb0
(const Twist &a, const Twist &da, double dt=1)
IMETHOD Wrench
addDelta
namespaceKDL.html
a2e1b786a27b63352f5f2c098ef26392d
(const Wrench &a, const Wrench &da, double dt=1)
IMETHOD doubleVel
addDelta
namespaceKDL.html
a6ac0a4190fd520636b59af8d3c002b49
(const doubleVel &a, const doubleVel &da, double dt=1.0)
double
addDelta
namespaceKDL.html
a97e670ceadfa42f7e07cb404cd345506
(double a, double da, double dt)
double
asin
namespaceKDL.html
ae95d0e9fbb66c0d9800ea2d6a175526c
(double a)
INLINE Rall1d< T, V, S >
asin
namespaceKDL.html
aa1deba048bebb8cfbc4455210bb54f61
(const Rall1d< T, V, S > &x)
INLINE Rall2d< T, V, S >
asin
namespaceKDL.html
a35aa2a7571735ebf167be9203277bb15
(const Rall2d< T, V, S > &arg)
double
atan
namespaceKDL.html
aec69fd13a968acc96224cfc6c0d261e5
(double a)
INLINE Rall1d< T, V, S >
atan
namespaceKDL.html
ab35b68b021e044b46c03f38c4c14738f
(const Rall1d< T, V, S > &x)
INLINE Rall2d< T, V, S >
atan
namespaceKDL.html
a799650ee210b3260a6255f8d8f2b6b99
(const Rall2d< T, V, S > &x)
INLINE Rall2d< T, V, S >
atan2
namespaceKDL.html
a5b66be54ba5f45a06751e99d881c53ea
(const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x)
double
atan2
namespaceKDL.html
a04e57bfbdbf57b878c4c54a9ceb7ebf9
(double a, double b)
INLINE Rall1d< T, V, S >
atan2
namespaceKDL.html
aeaea5afce42aa1a21d7fbce3d75969d1
(const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
bool
changeBase
namespaceKDL.html
aa440186e9c44a521afa7e2e8816866a5
(const Jacobian &src1, const Rotation &rot, Jacobian &dest)
bool
changeRefFrame
namespaceKDL.html
a54141738e3da2da7cebea6bd59ed605b
(const Jacobian &src1, const Frame &frame, Jacobian &dest)
bool
changeRefPoint
namespaceKDL.html
ae68d5c0d686d03b0a779f595083209c3
(const Jacobian &src1, const Vector &base_AB, Jacobian &dest)
void
checkDiffs
namespaceKDL.html
afa0dd1bd029ad0f2f51f07be7ba97c42
()
void
checkDoubleOps
namespaceKDL.html
a6cdf7ff2b751c04cb8c248d064cf3eff
()
void
checkEqual
namespaceKDL.html
ab7804c53df3c43b41c15ddddfc3bfa74
(const T &a, const T &b, double eps)
void
checkEulerZYX
namespaceKDL.html
abd6725a64375d5a20e9ccdcc435f68ed
()
void
checkFrameOps
namespaceKDL.html
ac67b73fe0546b2c549678cf3b99fb390
()
void
checkFrameVelOps
namespaceKDL.html
a2baa428714b4624f647d157130ed6f82
()
double
cos
namespaceKDL.html
a887e76f013222161ad97011c29f44567
(double a)
INLINE Rall1d< T, V, S >
cos
namespaceKDL.html
a28fb39c2d77d3050aebc60d3fcb67797
(const Rall1d< T, V, S > &arg)
INLINE Rall2d< T, V, S >
cos
namespaceKDL.html
a4f00c87082c43c31c5bbc9305d064acd
(const Rall2d< T, V, S > &arg)
double
cosh
namespaceKDL.html
abda1794286cb009f3205067b8444ac14
(double a)
INLINE Rall1d< T, V, S >
cosh
namespaceKDL.html
a38afce44f23b730b7d570b66b838aa68
(const Rall1d< T, V, S > &arg)
INLINE Rall2d< T, V, S >
cosh
namespaceKDL.html
a872ad38e62e8f1fac77f5083ffcbb0dd
(const Rall2d< T, V, S > &arg)
Chain
d2
namespaceKDL.html
a2c919aa6e336f8a1a90cfc3dad43b1f5
()
Chain
d6
namespaceKDL.html
a7085f1d08acf85c900ceb4f3e8f39ac5
()
IMETHOD doubleVel
diff
namespaceKDL.html
ac33cd30cdcbb2a408118c7f4da33d839
(const doubleVel &a, const doubleVel &b, double dt=1.0)
double
diff
namespaceKDL.html
a46bf12853011243d224d0faf74f975f0
(double a, double b, double dt)
IMETHOD VectorVel
diff
namespaceKDL.html
abcbdf134e1245fff7276c09d93bc129e
(const VectorVel &a, const VectorVel &b, double dt=1.0)
IMETHOD VectorVel
diff
namespaceKDL.html
af6fe4108d2d1bc8f56de6ada8b1e02a2
(const RotationVel &a, const RotationVel &b, double dt=1.0)
IMETHOD TwistVel
diff
namespaceKDL.html
a4abe67e47461ea82dd1764ff915b8e5f
(const FrameVel &a, const FrameVel &b, double dt=1.0)
IMETHOD Vector
diff
namespaceKDL.html
a721ba3f54f506bc1004fb981a9ea7b13
(const Vector &p_w_a, const Vector &p_w_b, double dt=1)
IMETHOD Vector
diff
namespaceKDL.html
ad23c4b0b7788db8ecc670b5561dbc427
(const Rotation &R_a_b1, const Rotation &R_a_b2, double dt=1)
IMETHOD Twist
diff
namespaceKDL.html
af738311fdea560d6255894ddc0425095
(const Frame &F_a_b1, const Frame &F_a_b2, double dt=1)
IMETHOD Twist
diff
namespaceKDL.html
a64a30fa7b4a6a532cbd43ad90c93bc5e
(const Twist &a, const Twist &b, double dt=1)
IMETHOD Wrench
diff
namespaceKDL.html
a0207da13db4661467e2e8c74cce973a5
(const Wrench &W_a_p1, const Wrench &W_a_p2, double dt=1)
IMETHOD Twist
diffRelative
namespaceKDL.html
a909c50341bd06b4a13fd9c91f618b44b
(const Frame &F_a_b1, const Frame &F_a_b2, double dt=1)
void
Divide
namespaceKDL.html
a271c55c29a0bbb873d420392f4cd1685
(const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
void
Divide
namespaceKDL.html
a29a463da0ea75ee267a9229b6397cff4
(const JntArrayAcc &src, const doubleVel &factor, JntArrayAcc &dest)
void
Divide
namespaceKDL.html
ae8b64e8487e3bb3b6a8f2ccf5255c80f
(const JntArrayAcc &src, const doubleAcc &factor, JntArrayAcc &dest)
void
Divide
namespaceKDL.html
ae139248a5f388a7926789e58a1cb192b
(const JntArrayVel &src, const double &factor, JntArrayVel &dest)
void
Divide
namespaceKDL.html
aa9dca0c2efb73851970931de9f0daa6e
(const JntSpaceInertiaMatrix &src, const double &factor, JntSpaceInertiaMatrix &dest)
void
Divide
namespaceKDL.html
a58ae4682bfa96df290a84bc8764db2f3
(const JntArray &src, const double &factor, JntArray &dest)
void
Divide
namespaceKDL.html
ab47fd546752c9082c646e51430daed25
(const JntArrayVel &src, const doubleVel &factor, JntArrayVel &dest)
doubleAcc
dot
namespaceKDL.html
a3fd338e2da27c7bd6ca0e37b0f0df6bc
(const VectorAcc &lhs, const VectorAcc &rhs)
doubleAcc
dot
namespaceKDL.html
a107183962fe5c2cb927be493403bb397
(const VectorAcc &lhs, const Vector &rhs)
doubleAcc
dot
namespaceKDL.html
a13b5aff556e90ec3023cbb2aa8cab6e3
(const Vector &lhs, const VectorAcc &rhs)
IMETHOD doubleVel
dot
namespaceKDL.html
a59eeac3549f0285cf74e1a0cf7d6a252
(const VectorVel &lhs, const VectorVel &rhs)
IMETHOD doubleVel
dot
namespaceKDL.html
a249338544fa35389e6ef0557ae975b31
(const VectorVel &lhs, const Vector &rhs)
IMETHOD doubleVel
dot
namespaceKDL.html
ac268827dde5f83564132e3991e914661
(const Vector &lhs, const VectorVel &rhs)
IMETHOD double
dot
namespaceKDL.html
a4db9af1413269c11e7d2545598b1007f
(const Vector &lhs, const Vector &rhs)
IMETHOD double
dot
namespaceKDL.html
aa63cf4bc264d241cd79de32af80d7fdc
(const Twist &lhs, const Wrench &rhs)
IMETHOD double
dot
namespaceKDL.html
a075c80a9c5b8b4db8221d84dbe16321a
(const Wrench &rhs, const Twist &lhs)
void
Eat
namespaceKDL.html
a31d23582bde3483d45295cec3e54a8b3
(std::istream &is, int delim)
void
Eat
namespaceKDL.html
aa1f884273ae8bdbcb4638569d12484e3
(std::istream &is, const char *descript)
void
EatEnd
namespaceKDL.html
a00837fd6a97743f18dc3ee514dbb1dbe
(std::istream &is, int delim)
void
EatWord
namespaceKDL.html
a3ae42cae48abc196d6b3c15244b63f06
(std::istream &is, const char *delim, char *storage, int maxsize)
IMETHOD bool
Equal
namespaceKDL.html
aceb6e09c6452163b3558a3a3cc07218e
(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
adfd020186f84b57bbc3b68ffce524f62
(const Frame &r1, const FrameAcc &r2, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
a720066d9cded8fbede747b8709346807
(const FrameAcc &r1, const Frame &r2, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
a8a8d76717c6b496e08e425c012f8b89b
(const RotationAcc &r1, const RotationAcc &r2, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
a02b22cc9116b2baca5a86eaee825076e
(const Rotation &r1, const RotationAcc &r2, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
a8011b8ae760bbe1aa062b699ad93038c
(const RotationAcc &r1, const Rotation &r2, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
ab62149a668287784cd5695f01c17367d
(const TwistAcc &a, const TwistAcc &b, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
ab3fb673008c926b747f12842819fb337
(const Twist &a, const TwistAcc &b, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
a20ab86ec30519ed0fad9a1d705c829f1
(const TwistAcc &a, const Twist &b, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
a900aeddeccd431c5cbf0bdd3156d6f35
(const VectorAcc &r1, const VectorAcc &r2, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
afd3e97a38cc7c47e7b6d07e7e0f466a7
(const Vector &r1, const VectorAcc &r2, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
a597c39d91a1081b5442712f1249d6054
(const VectorAcc &r1, const Vector &r2, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
a429b3dde4f39a3d81fb99cac3879d5d2
(const VectorVel &r1, const VectorVel &r2, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
a0917bf2a85b30dba6ac3a60131ac0400
(const Vector &r1, const VectorVel &r2, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
a7499a3cd0d3c34bad5a5f844cd9f34e2
(const VectorVel &r1, const Vector &r2, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
af947e7ffa1e54902b211aebc7d2fbcd3
(const RotationVel &r1, const RotationVel &r2, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
a3fc2070f69def825fb20806cc70bdec9
(const Rotation &r1, const RotationVel &r2, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
a31f155d33ef1cc21bc6e69a8c27939a8
(const RotationVel &r1, const Rotation &r2, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
ae19cba37b0b3a8f17f2426ef2dde7345
(const FrameVel &r1, const FrameVel &r2, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
a99f1283f4b309d0cfa47032764149d79
(const Frame &r1, const FrameVel &r2, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
a9883f896f965d3b5991a7f229d312014
(const FrameVel &r1, const Frame &r2, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
ad72529712b954d065bb8a04c15281be7
(const TwistVel &a, const TwistVel &b, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
a5c7ac3cd31bc956c067ddab208ffe1ea
(const Twist &a, const TwistVel &b, double eps=epsilon)
IMETHOD bool
Equal
namespaceKDL.html
a106e91304c56ac79037adf15aecb04fd
(const TwistVel &a, const Twist &b, double eps=epsilon)
bool
Equal
namespaceKDL.html
afdfb90a1123ea45e6b0e348aff04b230
(const JntArrayVel &src1, const JntArrayVel &src2, double eps)
bool
Equal
namespaceKDL.html
a59ea9aebf2aaa6edfd35375dcbcea546
(const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2, double eps)
bool
Equal
namespaceKDL.html
a068d1c706d47e7be23bc58bfe6079799
(const JntArray &src1, const JntArray &src2, double eps)
bool
Equal
namespaceKDL.html
ab56d49bccacc4c7d3725ee1a31a3a686
(const Jacobian &a, const Jacobian &b, double eps)
bool
Equal
namespaceKDL.html
a267f5edb3111f0f0ba0273099f3fee1e
(const Vector &a, const Vector &b, double eps=epsilon)
bool
Equal
namespaceKDL.html
af0c5cb20967b3790cf5a534511f64f0a
(const Frame &a, const Frame &b, double eps=epsilon)
bool
Equal
namespaceKDL.html
ad74e1ec324b451246619ec0812c2f9c8
(const Twist &a, const Twist &b, double eps=epsilon)
bool
Equal
namespaceKDL.html
a71af262c34419a6396d37a3939d2281f
(const Wrench &a, const Wrench &b, double eps=epsilon)
bool
Equal
namespaceKDL.html
a7e89bf5dfb058ed646d8cd8791c71cb2
(const Vector2 &a, const Vector2 &b, double eps=epsilon)
bool
Equal
namespaceKDL.html
a8f002bdc16e0843ec3660aee9bcb24bd
(const Rotation2 &a, const Rotation2 &b, double eps=epsilon)
bool
Equal
namespaceKDL.html
a96ca52698b11cbddf3176a4af11bd64b
(const Frame2 &a, const Frame2 &b, double eps=epsilon)
bool
Equal
namespaceKDL.html
aa75157c97981a05a94513ec9a8c40124
(const Rotation &a, const Rotation &b, double eps)
bool
Equal
namespaceKDL.html
a944126492e3ac5834cde755114151d75
(const JntArrayAcc &src1, const JntArrayAcc &src2, double eps)
bool
Equal
namespaceKDL.html
a9dc76b8309a93eeb9a843a275c11d037
(double a, double b, double eps=epsilon)
INLINE bool
Equal
namespaceKDL.html
a1cc2df81152a4a21b53a6b358edc5ec1
(const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x, double eps=epsilon)
INLINE bool
Equal
namespaceKDL.html
af7e00537fa97de615af633da567033d8
(const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x, double eps=epsilon)
double
exp
namespaceKDL.html
a3ed681a445a5c713d91466027501d864
(double a)
INLINE Rall1d< T, V, S >
exp
namespaceKDL.html
aecbca56af74738ce15c95556313bad67
(const Rall1d< T, V, S > &arg)
INLINE Rall2d< T, V, S >
exp
namespaceKDL.html
a625aa60f7ecd2b0b322d30c6fc9373b6
(const Rall2d< T, V, S > &arg)
static void
generatePowers
namespaceKDL.html
a94c4e9f0c4e9790ec33e72003bd13fdc
(int n, double x, double *powers)
INLINE Rall1d< T, V, S >
hypot
namespaceKDL.html
aeeb6f21482d731a6aea17e8a8f3be211
(const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
INLINE Rall2d< T, V, S >
hypot
namespaceKDL.html
a8f1f61de6f649b0e140c882a0cc0b154
(const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x)
void
IOTrace
namespaceKDL.html
ae9d2ed96f6e1c0a53867b5eb564be155
(const std::string &description)
void
IOTraceOutput
namespaceKDL.html
a6c06e8e3cc494415714628c19ddb5177
(std::ostream &os)
void
IOTracePop
namespaceKDL.html
ab82b0df5bce4dfba0dab75a147067198
()
void
IOTracePopStr
namespaceKDL.html
a48e1005745b610ecdb493a7fe330a2ea
(char *buffer, int size)
Chain
KukaLWR
namespaceKDL.html
aa7a1cb76dad08011ca94f38aa1dbef71
()
Chain
KukaLWR_DHnew
namespaceKDL.html
a0654087810d42fbfb0b0259216ce3580
()
Chain
KukaLWRsegment
namespaceKDL.html
afe322fa00695865d1617d8d6932d034d
()
int
ldl_solver_eigen
namespaceKDL.html
acba9b399cc104f4be96ee84cadf99b07
(const Eigen::MatrixXd &A, const Eigen::VectorXd &v, Eigen::MatrixXd &L, Eigen::VectorXd &D, Eigen::VectorXd &vtmp, Eigen::VectorXd &q)
double
LinComb
namespaceKDL.html
a649a0834fa4420e71c427e5c3f4058e3
(double alfa, double a, double beta, double b)
INLINE Rall1d< T, V, S >
LinComb
namespaceKDL.html
ae90a4f8ef5486eb57f84f57006e44bd7
(S alfa, const Rall1d< T, V, S > &a, const T &beta, const Rall1d< T, V, S > &b)
INLINE Rall2d< T, V, S >
LinComb
namespaceKDL.html
a01f26dd0a944947d02f7a38208540621
(S alfa, const Rall2d< T, V, S > &a, const T &beta, const Rall2d< T, V, S > &b)
void
LinCombR
namespaceKDL.html
a6bbbeb53220cbe45b460b577b42526e8
(double alfa, double a, double beta, double b, double &result)
INLINE void
LinCombR
namespaceKDL.html
ab0aa503972c5de68fec288a020b87d8f
(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
namespaceKDL.html
a4ba14b7db89c84e8be303cb076c53e26
(S alfa, const Rall2d< T, V, S > &a, const T &beta, const Rall2d< T, V, S > &b, Rall2d< T, V, S > &result)
double
log
namespaceKDL.html
aa3666e576c08e814a905297a6ecc41f1
(double a)
INLINE Rall1d< T, V, S >
log
namespaceKDL.html
a62718f5f4025f9087934790966678ff9
(const Rall1d< T, V, S > &arg)
INLINE Rall2d< T, V, S >
log
namespaceKDL.html
a03c16593fdf8bc82c0ef2a41055334ea
(const Rall2d< T, V, S > &arg)
double
max
namespaceKDL.html
adb3f6f67f41bc87f6d98423ac7a5b92f
(double a, double b)
double
min
namespaceKDL.html
aa7c26c4bc57cab66adc41b08110f5948
(double a, double b)
void
Multiply
namespaceKDL.html
aecfc62e3d4f3d21b9752669794aac2fb
(const JntArrayVel &src, const double &factor, JntArrayVel &dest)
void
Multiply
namespaceKDL.html
a3dbaa87cc9453c14a7fd4335ca343c66
(const JntArrayVel &src, const doubleVel &factor, JntArrayVel &dest)
void
Multiply
namespaceKDL.html
ae7a531e845086142255090a67666ec70
(const JntSpaceInertiaMatrix &src, const double &factor, JntSpaceInertiaMatrix &dest)
void
Multiply
namespaceKDL.html
a65d854aa88f96a677c66b50bc06b54bd
(const JntArray &src, const double &factor, JntArray &dest)
void
Multiply
namespaceKDL.html
a1210f7f6f4db1eee2e2c39211c7cb388
(const JntSpaceInertiaMatrix &src, const JntArray &vec, JntArray &dest)
void
Multiply
namespaceKDL.html
ab32cb0e76ccfdbc012bbdff485fa2e2c
(const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
void
Multiply
namespaceKDL.html
a15f89314c4b049945d7e4566b3bb1459
(const JntArrayAcc &src, const doubleVel &factor, JntArrayAcc &dest)
void
Multiply
namespaceKDL.html
a4b751d3ba37a7ca2ee37b4955b6a1b2c
(const JntArrayAcc &src, const doubleAcc &factor, JntArrayAcc &dest)
void
MultiplyJacobian
namespaceKDL.html
ac85eca37a300ca3afa534bf3133cd134
(const Jacobian &jac, const JntArray &src, Twist &dest)
double
Norm
namespaceKDL.html
a1ea4c3a83ea51ec60e63e46f23ff7ae2
(double arg)
INLINE S
Norm
namespaceKDL.html
a04a201d7eeb1d5e1ebcea1d297efe9a4
(const Rall1d< T, V, S > &value)
INLINE S
Norm
namespaceKDL.html
a4b8d42bd80ee61a21095edbc1bf8d8d6
(const Rall2d< T, V, S > &value)
bool
operator!=
namespaceKDL.html
a6797c68c09dc61566d2fb2f9f4e1cdac
(const FrameVel &r1, const FrameVel &r2)
bool
operator!=
namespaceKDL.html
a7201f4380eaa5617668e254554900113
(const Frame &r1, const FrameVel &r2)
bool
operator!=
namespaceKDL.html
a4b91bdcbbb71af48e324996cdb43e2cb
(const FrameVel &r1, const Frame &r2)
bool
operator!=
namespaceKDL.html
a4a79f55480a4274e2f1902f62b2858e1
(const VectorVel &r1, const VectorVel &r2)
bool
operator!=
namespaceKDL.html
a2e72b3c920bce456e44892604f4ee2e6
(const Vector &r1, const VectorVel &r2)
bool
operator!=
namespaceKDL.html
a03afc4531913f82469fbd05f7dc19173
(const VectorVel &r1, const Vector &r2)
bool
operator!=
namespaceKDL.html
a84b99208df6b6c36c1be64e3190f909a
(const RotationVel &r1, const RotationVel &r2)
bool
operator!=
namespaceKDL.html
a6492e42fafda7e39a64820445da4d1ce
(const Rotation &r1, const RotationVel &r2)
bool
operator!=
namespaceKDL.html
af0b2c9e544649739fa85baf3cc415bd7
(const RotationVel &r1, const Rotation &r2)
bool
operator!=
namespaceKDL.html
a4b08e47a485ff7688cdec479512d48bf
(const TwistVel &a, const TwistVel &b)
bool
operator!=
namespaceKDL.html
a3a4ecba875d6a101af78791765418324
(const Twist &r1, const TwistVel &r2)
INLINE bool
operator!=
namespaceKDL.html
a38341cc30e5b13d0e90de01b69378c2e
(const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
bool
operator!=
namespaceKDL.html
a2e27f65e09a955123c7531e9f31364bb
(const TwistVel &r1, const Twist &r2)
INLINE bool
operator!=
namespaceKDL.html
a98cfe0a9be76a87db8358bc51b469a74
(const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x)
IMETHOD bool
operator!=
namespaceKDL.html
a312b7b900344e2ae17a20876f1df7574
(const Frame &a, const Frame &b)
IMETHOD bool
operator!=
namespaceKDL.html
a6ae91ebcc5ee2a021fbc153fbc24a01c
(const Vector &a, const Vector &b)
IMETHOD bool
operator!=
namespaceKDL.html
aace5ddee5968bf1f3baf1b0e1c6ab050
(const Twist &a, const Twist &b)
IMETHOD bool
operator!=
namespaceKDL.html
a640b15a9d707c5a81915064d88f30030
(const Wrench &a, const Wrench &b)
IMETHOD bool
operator!=
namespaceKDL.html
af5e1f5dbc48ea49b0872ac949f47003b
(const Rotation &a, const Rotation &b)
IMETHOD bool
operator!=
namespaceKDL.html
a035cedf046e497717220dd23543c4571
(const Vector2 &a, const Vector2 &b)
Frame
operator*
namespaceKDL.html
af3abf2430995a3cc3c688884e9efe156
(const Frame &lhs, const Frame &rhs)
FrameVel
operator*
namespaceKDL.html
a142d0102e854fb2d81285b4be9c77403
(const FrameVel &lhs, const FrameVel &rhs)
FrameVel
operator*
namespaceKDL.html
a91614778fd903680d9adc02dc4f9f93e
(const FrameVel &lhs, const Frame &rhs)
FrameVel
operator*
namespaceKDL.html
afa2370df86529ccb32adb550a6d68f3c
(const Frame &lhs, const FrameVel &rhs)
RigidBodyInertia
operator*
namespaceKDL.html
accbcba03cf4c161e16962aa6ede0f71f
(double a, const RigidBodyInertia &I)
RotationalInertia
operator*
namespaceKDL.html
af55f79c3adb61f24af891e0a01b1c9da
(double a, const RotationalInertia &I)
ArticulatedBodyInertia
operator*
namespaceKDL.html
aa7100a66f621fadcd96168a97d27784d
(double a, const ArticulatedBodyInertia &I)
Wrench
operator*
namespaceKDL.html
aea69709844f7f034d1352c182036b5ac
(const RigidBodyInertia &I, const Twist &t)
VectorAcc
operator*
namespaceKDL.html
a9e9d745c14edea95c2ebb5cea42de36f
(const VectorAcc &r1, const VectorAcc &r2)
RigidBodyInertia
operator*
namespaceKDL.html
acbf30c08a930e58f18e6f4b89b4d3fd8
(const Frame &T, const RigidBodyInertia &I)
VectorAcc
operator*
namespaceKDL.html
a2fb01a0504479ca09c7bf27e343b8be5
(const VectorAcc &r1, const Vector &r2)
VectorAcc
operator*
namespaceKDL.html
a32c266cd0cffd38a75c48221ccc25399
(const Vector &r1, const VectorAcc &r2)
Wrench
operator*
namespaceKDL.html
a57e5b07873e812f8d7f94d5ca1acd229
(const ArticulatedBodyInertia &I, const Twist &t)
VectorAcc
operator*
namespaceKDL.html
a524c105fb1973d09ecd5cdede4374810
(double r1, const VectorAcc &r2)
RigidBodyInertia
operator*
namespaceKDL.html
a68dfff80e6489e8c7c208d764a71ccaa
(const Rotation &M, const RigidBodyInertia &I)
VectorAcc
operator*
namespaceKDL.html
aadc7e8ee3d8788b987dc0f0a4c5f67e3
(const VectorAcc &r1, double r2)
ArticulatedBodyInertia
operator*
namespaceKDL.html
ab60953771d5ef2a0ef08cf7e8266473f
(const Frame &T, const ArticulatedBodyInertia &I)
VectorAcc
operator*
namespaceKDL.html
a9cb7bd269eab198b5145a802b20456d7
(const doubleAcc &r1, const VectorAcc &r2)
Wrench
operator*
namespaceKDL.html
aaeeb2ef394b9f8e5772d793d9c361530
(const Stiffness &s, const Twist &t)
Vector
operator*
namespaceKDL.html
ab5247191df17553320eb1639d901221b
(const Vector &lhs, double rhs)
VectorAcc
operator*
namespaceKDL.html
a51ac1ce1dbd62896096448a98e209b96
(const VectorAcc &r2, const doubleAcc &r1)
ArticulatedBodyInertia
operator*
namespaceKDL.html
aef01dde4be0f6e8252a1703c16f30bdc
(const Rotation &M, const ArticulatedBodyInertia &I)
Vector
operator*
namespaceKDL.html
a357a1574d4d5fa898fc43df23fea8462
(double lhs, const Vector &rhs)
Vector
operator*
namespaceKDL.html
aa3709494d8a02d8757f4b668c452155a
(const Vector &lhs, const Vector &rhs)
RotationVel
operator*
namespaceKDL.html
a5d7163c16649fa3a642aa848324fe9d4
(const RotationVel &r1, const RotationVel &r2)
RotationVel
operator*
namespaceKDL.html
adbe94445d0882c39d30eae3dc0cafe87
(const Rotation &r1, const RotationVel &r2)
RotationVel
operator*
namespaceKDL.html
a5da7749f16d9ee38bfd37e79a4b4d396
(const RotationVel &r1, const Rotation &r2)
Rotation
operator*
namespaceKDL.html
aa9ad476d005ede2a464b048a9b048a96
(const Rotation &lhs, const Rotation &rhs)
RotationAcc
operator*
namespaceKDL.html
afc6f0d30c6f9d3e92c554585907be39b
(const RotationAcc &r1, const RotationAcc &r2)
RotationAcc
operator*
namespaceKDL.html
a30128ae85ca846c146f1df52ffd18aa8
(const Rotation &r1, const RotationAcc &r2)
RotationAcc
operator*
namespaceKDL.html
a58fadb516d19574d7ac0cb40d1022f3e
(const RotationAcc &r1, const Rotation &r2)
INLINE Rall1d< T, V, S >
operator*
namespaceKDL.html
ae0ac1e675d2d8e40cba13ea17eb64154
(const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
INLINE Rall2d< T, V, S >
operator*
namespaceKDL.html
af4b20aee782ff7944820549428d994d3
(const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
Wrench
operator*
namespaceKDL.html
a5c7d683679ab9019a65107e128cd6b88
(const Wrench &lhs, double rhs)
INLINE Rall1d< T, V, S >
operator*
namespaceKDL.html
acf526a38ef0ac580f129e95baef75930
(S s, const Rall1d< T, V, S > &v)
Wrench
operator*
namespaceKDL.html
ae46db8b8cf405b5faf1a89263296d7de
(double lhs, const Wrench &rhs)
INLINE Rall1d< T, V, S >
operator*
namespaceKDL.html
ac63ff44d01eb3515325a5e68632a0411
(const Rall1d< T, V, S > &v, S s)
VectorAcc
operator*
namespaceKDL.html
aef301ceb31d21ec006c03b3359673b75
(const Rotation &R, const VectorAcc &x)
INLINE Rall2d< T, V, S >
operator*
namespaceKDL.html
ade558189aadf6828c72bda912c0be10b
(S s, const Rall2d< T, V, S > &v)
INLINE Rall2d< T, V, S >
operator*
namespaceKDL.html
ae8b5701325d16dc7c9b820e1100cfb4b
(const Rall2d< T, V, S > &v, S s)
VectorVel
operator*
namespaceKDL.html
ae2e894b949233d7a44ae28da39fba9b3
(const VectorVel &r1, const VectorVel &r2)
VectorVel
operator*
namespaceKDL.html
addce33b1267ae40397c0868e3494c443
(const VectorVel &r1, const Vector &r2)
VectorVel
operator*
namespaceKDL.html
a2ef790489497475f742e991ac055e870
(const Vector &r1, const VectorVel &r2)
VectorVel
operator*
namespaceKDL.html
a99600554d49023bd93514a61abec1bb6
(double r1, const VectorVel &r2)
VectorVel
operator*
namespaceKDL.html
aaa72572d20b5e96b3b36b36b99467db4
(const VectorVel &r1, double r2)
VectorVel
operator*
namespaceKDL.html
abd858f51b9b11ad399be86cfc8f9e488
(const doubleVel &r1, const VectorVel &r2)
VectorVel
operator*
namespaceKDL.html
add99195f2e34b8ba9680d64463ab237f
(const VectorVel &r2, const doubleVel &r1)
TwistVel
operator*
namespaceKDL.html
a30bd9b19d131e18d55c493a26f69b6b0
(const doubleVel &lhs, const TwistVel &rhs)
VectorVel
operator*
namespaceKDL.html
ac87ef443bc4a8a8fcf86551a10b1dbef
(const Rotation &R, const VectorVel &x)
Twist
operator*
namespaceKDL.html
a6f3979c3069f3d6558fc902a86c380d5
(const Twist &lhs, double rhs)
FrameAcc
operator*
namespaceKDL.html
a8450a02abf20b80c80e444d29ab5304d
(const FrameAcc &lhs, const FrameAcc &rhs)
TwistAcc
operator*
namespaceKDL.html
a4164febadd9c9bf7a119cf4223350675
(const doubleAcc &lhs, const TwistAcc &rhs)
Twist
operator*
namespaceKDL.html
a74682143c6c66632244b5e67cccce8c0
(double lhs, const Twist &rhs)
FrameAcc
operator*
namespaceKDL.html
ad315c19f6564614fd6fe4350fa04885b
(const FrameAcc &lhs, const Frame &rhs)
FrameAcc
operator*
namespaceKDL.html
aec4b7d8ac5c54d65fa070bd6a189fe26
(const Frame &lhs, const FrameAcc &rhs)
Twist
operator*
namespaceKDL.html
ab85c524cf4f6bd5364363dad1ef08ae5
(const Twist &lhs, const Twist &rhs)
Wrench
operator*
namespaceKDL.html
aafe32822da77309b7f5c0260aa926886
(const Twist &lhs, const Wrench &rhs)
TwistAcc
operator*
namespaceKDL.html
aaab7b9e81b8789337bdbb13d9fd2e4cd
(const TwistAcc &lhs, double rhs)
TwistAcc
operator*
namespaceKDL.html
af8d405e2914bea19aecfc2aac9143375
(double lhs, const TwistAcc &rhs)
TwistAcc
operator*
namespaceKDL.html
a8b4f64aa851af027829c24d1d9deefd3
(const TwistAcc &lhs, const doubleAcc &rhs)
TwistVel
operator*
namespaceKDL.html
a72c5596a3ca250d8329e774648e9fa91
(const TwistVel &lhs, double rhs)
TwistVel
operator*
namespaceKDL.html
a33851c818cc9f12974f3cb29ebc74615
(double lhs, const TwistVel &rhs)
TwistVel
operator*
namespaceKDL.html
a6f74503124b79423fed9b28b20124361
(const TwistVel &lhs, const doubleVel &rhs)
IMETHOD Vector2
operator*
namespaceKDL.html
aae6a6cf702dd433fb1cd0cd462068380
(const Vector2 &lhs, double rhs)
IMETHOD Vector2
operator*
namespaceKDL.html
a2152fae33fee05d9bf23e9aaf5dfbe91
(double lhs, const Vector2 &rhs)
IMETHOD Rotation2
operator*
namespaceKDL.html
ae4ddd74aa0ffa153735c9603b51ea06f
(const Rotation2 &lhs, const Rotation2 &rhs)
IMETHOD Frame2
operator*
namespaceKDL.html
a00f0baabdb899f295fb9611e0b724560
(const Frame2 &lhs, const Frame2 &rhs)
VectorVel
operator+
namespaceKDL.html
ac1f7e351c8fd233adb3ab3a89d344807
(const VectorVel &r1, const VectorVel &r2)
VectorVel
operator+
namespaceKDL.html
a58aec482512a0c59b6c91e937854ca65
(const VectorVel &r1, const Vector &r2)
Wrench
operator+
namespaceKDL.html
a8e7b9ed5c63404773079ae53ee00d200
(const Wrench &lhs, const Wrench &rhs)
INLINE Rall1d< T, V, S >
operator+
namespaceKDL.html
ac3f53bf66c5fe04eb356b96b38e11033
(S s, const Rall1d< T, V, S > &v)
VectorVel
operator+
namespaceKDL.html
a05ce61116e9eb721ff6ce1a3fbc98a43
(const Vector &r1, const VectorVel &r2)
INLINE Rall1d< T, V, S >
operator+
namespaceKDL.html
a021feb07a51ec623e769248b1c110cf9
(const Rall1d< T, V, S > &v, S s)
INLINE Rall2d< T, V, S >
operator+
namespaceKDL.html
a996784b6057419f3a2a8ff6565221ce0
(S s, const Rall2d< T, V, S > &v)
Twist
operator+
namespaceKDL.html
a3e1e5d70194d5577e7e5e7c534f9f877
(const Twist &lhs, const Twist &rhs)
TwistAcc
operator+
namespaceKDL.html
aa3ab49311febc69235cc75ad7fe81a91
(const TwistAcc &lhs, const TwistAcc &rhs)
TwistVel
operator+
namespaceKDL.html
a75aac327bb8398b72660f8ff603af0a7
(const TwistVel &lhs, const TwistVel &rhs)
IMETHOD Vector2
operator+
namespaceKDL.html
ae19bb99f118f93827bbcfd227651028f
(const Vector2 &lhs, const Vector2 &rhs)
INLINE Rall2d< T, V, S >
operator+
namespaceKDL.html
aea25d0be19e8dccf456c4f8e0e1fe28f
(const Rall2d< T, V, S > &v, S s)
INLINE Rall2d< T, V, S >
operator+
namespaceKDL.html
a6a8432d8241db0cbee8a256f4b59ef46
(const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
ArticulatedBodyInertia
operator+
namespaceKDL.html
af14129ba902ec31f692ae97e29c033ef
(const RigidBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
RigidBodyInertia
operator+
namespaceKDL.html
a9a48ecd0ba02c61eb30f97b3606a1d10
(const RigidBodyInertia &Ia, const RigidBodyInertia &Ib)
VectorAcc
operator+
namespaceKDL.html
acab79938e3027d6510cfa4a90720c95f
(const VectorAcc &r1, const VectorAcc &r2)
VectorAcc
operator+
namespaceKDL.html
a37489ad00a48b8b652eadc65bebd5ad3
(const Vector &r1, const VectorAcc &r2)
VectorAcc
operator+
namespaceKDL.html
ab56265b003752215f2d94c00493e4c21
(const VectorAcc &r1, const Vector &r2)
ArticulatedBodyInertia
operator+
namespaceKDL.html
a3bc91024ee0a8b23fa94b74fa7c952f0
(const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
RotationalInertia
operator+
namespaceKDL.html
abe6b8cfeb5c5230d0641585798889a77
(const RotationalInertia &Ia, const RotationalInertia &Ib)
IMETHOD Vector
operator+
namespaceKDL.html
aae21b94ac92952d16ee509a5a4b8c449
(const Vector &lhs, const Vector &rhs)
Stiffness
operator+
namespaceKDL.html
a9c96e2afbe60a8f62893843c08895a35
(const Stiffness &s1, const Stiffness &s2)
ArticulatedBodyInertia
operator+
namespaceKDL.html
a698a887bd036f999ead109cb2f29c5e5
(const ArticulatedBodyInertia &Ia, const RigidBodyInertia &Ib)
INLINE Rall1d< T, V, S >
operator+
namespaceKDL.html
ac658376e450f37a620b95f4051358fce
(const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
INLINE Rall1d< T, V, S >
operator-
namespaceKDL.html
a723b0ed6f8e985f802bfe5d06bf645ea
(const Rall1d< T, V, S > &v, S s)
VectorAcc
operator-
namespaceKDL.html
aa782630b3a6cc0ba2c84b4e030dcddb7
(const VectorAcc &r)
VectorAcc
operator-
namespaceKDL.html
a782af317e6d1e7cb312b30ab60c70bd6
(const VectorAcc &r1, const VectorAcc &r2)
VectorAcc
operator-
namespaceKDL.html
a9554f1e935042c64beac3e7f945f9101
(const Vector &r1, const VectorAcc &r2)
VectorAcc
operator-
namespaceKDL.html
a096678f980702ca962d48014abd10945
(const VectorAcc &r1, const Vector &r2)
ArticulatedBodyInertia
operator-
namespaceKDL.html
a148a5015338fa55d58b91dc7b9bb9983
(const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
ArticulatedBodyInertia
operator-
namespaceKDL.html
a2dfa94ee82b9d4f12d9c4ee2b79a43b6
(const RigidBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
IMETHOD Vector
operator-
namespaceKDL.html
a1fce4b4a41dfa403b2a47f7950a602a1
(const Vector &lhs, const Vector &rhs)
ArticulatedBodyInertia
operator-
namespaceKDL.html
a8b9e70a1774fb129e540065eb6b263e3
(const ArticulatedBodyInertia &Ia, const RigidBodyInertia &Ib)
INLINE Rall1d< T, V, S >
operator-
namespaceKDL.html
a6f7dfac4a72e09dd826a191cb7ddd896
(const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
INLINE Rall1d< T, V, S >
operator-
namespaceKDL.html
a6414c63b4135a843ebe5a608cb0120a7
(const Rall1d< T, V, S > &arg)
VectorVel
operator-
namespaceKDL.html
a69ffbfb2913176226fa8b23af43b29c6
(const VectorVel &r1, const VectorVel &r2)
INLINE Rall2d< T, V, S >
operator-
namespaceKDL.html
afa692e300009c4ac5a03777b777cc129
(const Rall2d< T, V, S > &arg)
VectorVel
operator-
namespaceKDL.html
a6f71bf9fd005cd96217fc323f2da32c9
(const VectorVel &r1, const Vector &r2)
Wrench
operator-
namespaceKDL.html
a28f9d98ac28883fba27e18723698d59b
(const Wrench &lhs, const Wrench &rhs)
Wrench
operator-
namespaceKDL.html
a6188e96ab705622696fabc0bd2c120e7
(const Wrench &arg)
VectorVel
operator-
namespaceKDL.html
afc467fc7b1ba01dd94296fea19de4d1a
(const VectorVel &r)
INLINE Rall1d< T, V, S >
operator-
namespaceKDL.html
a930f40fc3b24eeb1b072e4f8e842fdb6
(S s, const Rall1d< T, V, S > &v)
INLINE Rall2d< T, V, S >
operator-
namespaceKDL.html
af56a9af66e83392919871e2781ff6baf
(S s, const Rall2d< T, V, S > &v)
INLINE Rall2d< T, V, S >
operator-
namespaceKDL.html
a2c6a1564b16d5a2c26abf5d63eec896e
(const Rall2d< T, V, S > &v, S s)
Twist
operator-
namespaceKDL.html
a78aa25a29bdaa99874ea3fcb128a3553
(const Twist &lhs, const Twist &rhs)
Twist
operator-
namespaceKDL.html
a42838c1bd9e803b30a6bd645d150c65c
(const Twist &arg)
Vector
operator-
namespaceKDL.html
a6dfc6b5efe37c9bbae876578f2b3a361
(const Vector &arg)
TwistAcc
operator-
namespaceKDL.html
a1edfde5b35133050a8a1d3a5a7a107af
(const TwistAcc &lhs, const TwistAcc &rhs)
TwistAcc
operator-
namespaceKDL.html
ae5c4196610ec6b1a316b23f144a75090
(const TwistAcc &arg)
TwistVel
operator-
namespaceKDL.html
ae749e341f554956882b5656598e11b99
(const TwistVel &arg)
IMETHOD Vector2
operator-
namespaceKDL.html
a8a95c0c12a9c7d846ac4c2832e03fa6a
(const Vector2 &lhs, const Vector2 &rhs)
IMETHOD Vector2
operator-
namespaceKDL.html
adc332c398dc07420ccff5e6d7ee12209
(const Vector2 &arg)
TwistVel
operator-
namespaceKDL.html
a3965521259dda93424d97d2231d1b3fc
(const TwistVel &lhs, const TwistVel &rhs)
VectorVel
operator-
namespaceKDL.html
a22c094db1c261a306f291f24cd2b3019
(const Vector &r1, const VectorVel &r2)
INLINE Rall2d< T, V, S >
operator-
namespaceKDL.html
afaef0cdb1c85e52616214d0bb599ab11
(const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
TwistVel
operator/
namespaceKDL.html
a3bb62491cc784aff32bdce8971cff262
(const TwistVel &lhs, const doubleVel &rhs)
VectorAcc
operator/
namespaceKDL.html
a7dd9ddf5cf0ebc37acb08f33c594f89d
(const VectorAcc &r1, double r2)
VectorAcc
operator/
namespaceKDL.html
a3a23c4ad11a2c81588b94fbf6e39eb7f
(const VectorAcc &r2, const doubleAcc &r1)
INLINE Rall1d< T, V, S >
operator/
namespaceKDL.html
acc761e20a4b8939e7b1fc19509fed229
(const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
INLINE Rall2d< T, V, S >
operator/
namespaceKDL.html
a1688bc7b4ec8112c41ed8f53eaedb472
(S s, const Rall2d< T, V, S > &rhs)
Wrench
operator/
namespaceKDL.html
a8e4ca54ad9f9b0e5538e4bd3423a87a4
(const Wrench &lhs, double rhs)
IMETHOD Vector2
operator/
namespaceKDL.html
aefa0b99b58c211a4eff0539f180dcf87
(const Vector2 &lhs, double rhs)
TwistVel
operator/
namespaceKDL.html
a0cf929f37d18dfea115bb8dfe0a9ba75
(const TwistVel &lhs, double rhs)
INLINE Rall1d< T, V, S >
operator/
namespaceKDL.html
ae578ae5ecc8af1ddea7f795743634552
(S s, const Rall1d< T, V, S > &v)
INLINE Rall1d< T, V, S >
operator/
namespaceKDL.html
ad19e835adb6a238c72c6adba682d1c32
(const Rall1d< T, V, S > &v, S s)
TwistAcc
operator/
namespaceKDL.html
a321a12c7bdb069e7f0a317ef9d778370
(const TwistAcc &lhs, const doubleAcc &rhs)
INLINE Rall2d< T, V, S >
operator/
namespaceKDL.html
a60c791d571a9e7f6f8362715de2e69ce
(const Rall2d< T, V, S > &v, S s)
VectorVel
operator/
namespaceKDL.html
a7b2b0c8cf567e8d7057341689c186e25
(const VectorVel &r2, const doubleVel &r1)
Twist
operator/
namespaceKDL.html
a2c10359e471c3cf0dca718798f15d224
(const Twist &lhs, double rhs)
TwistAcc
operator/
namespaceKDL.html
a15ebfbcd250b2584e798f4955fc6fcba
(const TwistAcc &lhs, double rhs)
VectorVel
operator/
namespaceKDL.html
ad97597be7b4cfcfb41052ad7f949779c
(const VectorVel &r1, double r2)
Vector
operator/
namespaceKDL.html
aed451d41bd66dbd33a3feb5acb4b1ebe
(const Vector &lhs, double rhs)
INLINE Rall2d< T, V, S >
operator/
namespaceKDL.html
aaea6ad212ea3f03cf359a6fd0b68d308
(const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
std::ostream &
operator<<
namespaceKDL.html
aa2ad7c49487ea4700b039c05fa5d3bb0
(std::ostream &os, const Twist &v)
std::ostream &
operator<<
namespaceKDL.html
a142dcb0cd026eb30ac3cd5b4525f5090
(std::ostream &os, const Rotation &R)
std::ostream &
operator<<
namespaceKDL.html
afc1e3573bca3a74daedbe3ab41552e3c
(std::ostream &os, const FrameAcc &r)
std::ostream &
operator<<
namespaceKDL.html
acad9a8c9b186ba55de9bb3fc0c1b6930
(std::ostream &os, const Rall2d< T, V, S > &r)
std::ostream &
operator<<
namespaceKDL.html
ad6b4b7d81abe14453de980e479590cd5
(std::ostream &os, const FrameVel &r)
std::ostream &
operator<<
namespaceKDL.html
a4dde00469dc5fc853343c8ac32efa147
(std::ostream &os, const Vector &v)
std::ostream &
operator<<
namespaceKDL.html
a7dc7beffdaf33343803aae8f3729330e
(std::ostream &os, const RotationVel &r)
std::ostream &
operator<<
namespaceKDL.html
a9d7494dc064cd870a35029348375a838
(std::ostream &os, const Tree &tree)
std::ostream &
operator<<
namespaceKDL.html
aad66d20d936c19dc757be3a94cadcace
(std::ostream &os, const VectorVel &r)
std::ostream &
operator<<
namespaceKDL.html
a05fc643515b491c7a9938a8f6fd0500f
(std::ostream &os, const VectorAcc &r)
std::ostream &
operator<<
namespaceKDL.html
af23846837b43f7eca43c2088148e28fd
(std::ostream &os, const RotationAcc &r)
std::ostream &
operator<<
namespaceKDL.html
a6f27a3f6197596968c14f5976048d0cb
(std::ostream &os, const TwistVel &r)
std::ostream &
operator<<
namespaceKDL.html
ac020750892e14e0e4e075efd6bfd3100
(std::ostream &os, const TwistAcc &r)
std::ostream &
operator<<
namespaceKDL.html
ada870ba0c32e066ec5bc788b89d74749
(std::ostream &os, const Joint &joint)
std::ostream &
operator<<
namespaceKDL.html
a9c24a75480dd228cc709f5671a91ad5d
(std::ostream &os, const JntArray &array)
std::ostream &
operator<<
namespaceKDL.html
a0b1bfa84edf53b8bda42eb5aed25b000
(std::ostream &os, const Jacobian &jac)
std::ostream &
operator<<
namespaceKDL.html
aa08626fac3a13378cd8d93ce317f581f
(std::ostream &os, const JntSpaceInertiaMatrix &jntspaceinertiamatrix)
std::ostream &
operator<<
namespaceKDL.html
a3815b8d46d06c7e3e5ae67cd6e4990b3
(std::ostream &os, const Vector2 &v)
std::ostream &
operator<<
namespaceKDL.html
ad4b99bce081e77e3c06b2f41bb592589
(std::ostream &os, const Rall1d< T, V, S > &r)
std::ostream &
operator<<
namespaceKDL.html
ad58c420f0f0975c5cfb6c143d528a0b6
(std::ostream &os, const Segment &segment)
std::ostream &
operator<<
namespaceKDL.html
a82e4b532cea22eeed8fbec1bd43181f8
(std::ostream &os, const Chain &chain)
std::ostream &
operator<<
namespaceKDL.html
a0ff1c2a2597af9f062ddf0358682350e
(std::ostream &os, SegmentMap::const_iterator root)
std::ostream &
operator<<
namespaceKDL.html
abdb1c2aa6c78a0a27427849421256152
(std::ostream &os, const Wrench &v)
std::ostream &
operator<<
namespaceKDL.html
a24d29a8e06dbaf10d717157f1ba28d9a
(std::ostream &os, const Rotation2 &R)
std::ostream &
operator<<
namespaceKDL.html
a63ec444e29aca93f6c23373ef6433601
(std::ostream &os, const Frame2 &T)
std::ostream &
operator<<
namespaceKDL.html
a226695adfb3680921b18f03136ce0273
(std::ostream &os, const Frame &T)
bool
operator==
namespaceKDL.html
aa3536e25bdf0f28f49dc4f816febf949
(const TwistVel &r1, const Twist &r2)
bool
operator==
namespaceKDL.html
a4a07ac035490045345ed765f68c78a38
(const Frame &r1, const FrameVel &r2)
bool
operator==
namespaceKDL.html
abbf2ff7d3f960ab4ff33d979d13f591e
(const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2)
bool
operator==
namespaceKDL.html
a7b6a84cca357b87f150a916e9256cecf
(const VectorVel &r1, const VectorVel &r2)
bool
operator==
namespaceKDL.html
ae68e4b4619a61b10c023d08d13cfc605
(const Rotation &r1, const RotationVel &r2)
bool
operator==
namespaceKDL.html
a1d076f4eec84df192b9bcfa5740f2ebf
(const Rotation &a, const Rotation &b)
bool
operator==
namespaceKDL.html
ad8457a250380f149d1eb284ed1b3934f
(const RotationVel &r1, const Rotation &r2)
bool
operator==
namespaceKDL.html
af7f550dee6dfe8474b49187d9c1b52c1
(const Twist &a, const TwistVel &b)
IMETHOD bool
operator==
namespaceKDL.html
a29c2eddcc4d9cfe533e333ecfa1b54a0
(const Frame &a, const Frame &b)
INLINE bool
operator==
namespaceKDL.html
a28d08c1a822a0fe3a5e2c7e59d06236a
(const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
IMETHOD bool
operator==
namespaceKDL.html
a235efc5e431e6b5375c8360c68d27044
(const Twist &a, const Twist &b)
IMETHOD bool
operator==
namespaceKDL.html
a12c33f7bc59885551a7c3db86e2becbc
(const Vector2 &a, const Vector2 &b)
IMETHOD bool
operator==
namespaceKDL.html
a7ebcdc524db268f5df96f9bced38ad10
(const Wrench &a, const Wrench &b)
INLINE bool
operator==
namespaceKDL.html
a5d47d4e43e47c0d65a074ed1851de847
(const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x)
IMETHOD bool
operator==
namespaceKDL.html
aa24027be36c84617964a2cd6124659f9
(const Vector &a, const Vector &b)
bool
operator==
namespaceKDL.html
a068c61edbb7adfcf0207a7560a2026eb
(const TwistVel &a, const TwistVel &b)
bool
operator==
namespaceKDL.html
acedd29a5a64b4cb0c567732eb5f14d21
(const FrameVel &r1, const Frame &r2)
bool
operator==
namespaceKDL.html
a6e89a1838d7701b692f8be3a7fee8c35
(const VectorVel &r1, const Vector &r2)
bool
operator==
namespaceKDL.html
ada8ad69ba57f135c94041e1cf25b469d
(const Vector &r1, const VectorVel &r2)
bool
operator==
namespaceKDL.html
a0ad116c77af73be75361551f32c8ab21
(const RotationVel &r1, const RotationVel &r2)
bool
operator==
namespaceKDL.html
ae4da090fc8773ecb33ea708305f73b0e
(const JntArray &src1, const JntArray &src2)
bool
operator==
namespaceKDL.html
a39e814b326504c560b6518dd2da0ccc4
(const FrameVel &r1, const FrameVel &r2)
std::istream &
operator>>
namespaceKDL.html
a85780256ced2e5f6fba9424699585611
(std::istream &is, Jacobian &jac)
std::istream &
operator>>
namespaceKDL.html
a798f68d899adc2906b5eb1fca8b4b372
(std::istream &is, Rotation2 &r)
std::istream &
operator>>
namespaceKDL.html
a99cf8d444d6ece29e81ba106a4b1d48f
(std::istream &is, Twist &v)
std::istream &
operator>>
namespaceKDL.html
aa3598c2cd0bf08e0d4091b62c3d3e70b
(std::istream &is, JntArray &array)
std::istream &
operator>>
namespaceKDL.html
a4147003cd7f723387395f3f87887fa96
(std::istream &is, Wrench &v)
std::istream &
operator>>
namespaceKDL.html
a59562838391488e5b3aa4b158a090225
(std::istream &is, JntSpaceInertiaMatrix &jntspaceinertiamatrix)
std::istream &
operator>>
namespaceKDL.html
a15fc44010bfdca609d7802c8aab91895
(std::istream &is, Tree &tree)
std::istream &
operator>>
namespaceKDL.html
afa42ed5643a2891f71a3b6c6a2df285f
(std::istream &is, Vector &v)
std::istream &
operator>>
namespaceKDL.html
ab4978efdfafa24e8f1cb78220c643fb8
(std::istream &is, Frame &T)
std::istream &
operator>>
namespaceKDL.html
aba43ee3692a840b29148361f29ddfce5
(std::istream &is, Chain &chain)
std::istream &
operator>>
namespaceKDL.html
ab2c986dc7a5f9e5864938fc2e79dd67a
(std::istream &is, Rotation &r)
std::istream &
operator>>
namespaceKDL.html
a462bc4499da1e5209d5001872632985b
(std::istream &is, Segment &segment)
std::istream &
operator>>
namespaceKDL.html
a614435357b4ef70a4306fb45facbe606
(std::istream &is, Vector2 &v)
std::istream &
operator>>
namespaceKDL.html
a84456402e2d197eae16e609d80596e10
(std::istream &is, Frame2 &T)
std::istream &
operator>>
namespaceKDL.html
a14b0994fadb788bdcdb88e9009f5d919
(std::istream &is, Joint &joint)
IMETHOD void
posrandom
namespaceKDL.html
a5c000a5dfa9cbf912bf67073fb7520fb
(RotationVel &R)
IMETHOD void
posrandom
namespaceKDL.html
afb35d4c796c9c993745b83376734d080
(Rotation &R)
IMETHOD void
posrandom
namespaceKDL.html
aff1c0c5664a50d4bc85883c636033df5
(Wrench &a)
void
posrandom
namespaceKDL.html
ae535e38a0cb4424d3c6d838d6ed94051
(double &a)
IMETHOD void
posrandom
namespaceKDL.html
a1532bb6e60e00d6c36b984a3035de126
(Twist &a)
IMETHOD void
posrandom
namespaceKDL.html
a804501a1fd1b260f9950c36f25377393
(FrameVel &F)
void
posrandom
namespaceKDL.html
a8139fb4347d29af451e019f5d54f5268
(Stiffness &F)
IMETHOD void
posrandom
namespaceKDL.html
a50822c16b76589bb4a41df313d931f9e
(VectorVel &a)
IMETHOD void
posrandom
namespaceKDL.html
ac785c7fa89414f9d3c85edca120acc83
(Vector &a)
IMETHOD void
posrandom
namespaceKDL.html
a4e2d06356667a8f3268130e60e13f422
(Frame &F)
IMETHOD void
posrandom
namespaceKDL.html
ad28862488c44a3fcd86179b28223b34b
(TwistVel &a)
IMETHOD void
posrandom
namespaceKDL.html
ac19da83b9af24139e10645a8d85a46be
(doubleVel &F)
void
posrandom
namespaceKDL.html
a4c3c25f90186eeb86ea560c0a79e9b6e
(Jacobian< T > &rv)
INLINE Rall2d< T, V, S >
pow
namespaceKDL.html
a208905dec0210e79b264165dca1ac694
(const Rall2d< T, V, S > &arg, double m)
INLINE Rall1d< T, V, S >
pow
namespaceKDL.html
a5a8dc3166791f85443680b2aaf077ffb
(const Rall1d< T, V, S > &arg, double m)
double
pow
namespaceKDL.html
a68d5186e6e1bfad5036dbee0948b2583
(double a, double b)
Chain
Puma560
namespaceKDL.html
aaf684fac9a1afae7d61bca2a13a2dae5
()
double
PYTHAG
namespaceKDL.html
a05d58dfdea5e2cb5e49e26d23b7b3328
(double a, double b)
void
random
namespaceKDL.html
ac876b04cb1835696c7e227ba0d37d7e2
(double &a)
IMETHOD void
random
namespaceKDL.html
aff06e46b989fa6738dd60cf49f6a7ea1
(Frame &F)
IMETHOD void
random
namespaceKDL.html
ad4bc824b5837adae75f79399bd124804
(VectorVel &a)
IMETHOD void
random
namespaceKDL.html
a41009801573404ce30ee8e057fb04ef6
(Rotation &R)
IMETHOD void
random
namespaceKDL.html
a19a568accb594b3670bddf2a40a33105
(Twist &a)
void
random
namespaceKDL.html
acedf7ab3ea2f5f02a51c0509a406ef33
(Stiffness &F)
IMETHOD void
random
namespaceKDL.html
a1fdb77353c9152acfebd13a454872ba4
(TwistVel &a)
IMETHOD void
random
namespaceKDL.html
a910caae27c05e168ff9e13c1e1646319
(doubleVel &F)
IMETHOD void
random
namespaceKDL.html
a30e4eea768db2597e48833327755dc16
(FrameVel &F)
void
random
namespaceKDL.html
a9a9883ce5d4acd8ae15f21dd9efca7e0
(Jacobian< T > &rv)
IMETHOD void
random
namespaceKDL.html
a255a6a31ee024f0c265366e89129f564
(RotationVel &R)
IMETHOD void
random
namespaceKDL.html
ab659aefd7a8d246aa4940c712b53b151
(Vector &a)
IMETHOD void
random
namespaceKDL.html
a7a2f7de4c733f4e82af4f8bdd2056fb7
(Wrench &a)
IMETHOD Rotation
Rot
namespaceKDL.html
aa2587165b94880d6deaf7fdc5ed5ee06
(const Vector &axis_a_b)
void
SetToIdentity
namespaceKDL.html
a6756ce7b540d1a6f3e74019bc73642cf
(double &arg)
INLINE void
SetToIdentity
namespaceKDL.html
aecb4ad606020d5019539920cf1afbc03
(Rall2d< T, V, S > &value)
INLINE void
SetToIdentity
namespaceKDL.html
a47a8d2d992187948218d1525aaefc923
(Rall1d< T, V, S > &value)
INLINE void
SetToZero
namespaceKDL.html
ae33b889bf3ebfc8b2124a4e9b7e3176d
(Rall1d< T, V, S > &value)
void
SetToZero
namespaceKDL.html
a3f23dc88eba26d540cf728e9e0dd85aa
(TwistVel &v)
void
SetToZero
namespaceKDL.html
ae68e666e68770d71ad4051e0274dc33c
(VectorVel &v)
void
SetToZero
namespaceKDL.html
a35f7ca17400933ea6775b76bc2d96f94
(double &arg)
IMETHOD void
SetToZero
namespaceKDL.html
ad8485aa6cdef7323e5139e7197307670
(Twist &v)
IMETHOD void
SetToZero
namespaceKDL.html
aeb3832c7f7dbbb0276a3444dd6d64c4d
(Wrench &v)
void
SetToZero
namespaceKDL.html
aa2015ef4bf3ebb5f6defaf8bc1cf5184
(Jacobian &jac)
IMETHOD void
SetToZero
namespaceKDL.html
a8299e9971a3f1996d8fd79cdf29fd8d9
(Vector2 &v)
void
SetToZero
namespaceKDL.html
a2f3640f68421949e70b00b7850917ebe
(JntArray &array)
IMETHOD void
SetToZero
namespaceKDL.html
ac3750480c481eea276696d3bc4f863cc
(Vector &v)
INLINE void
SetToZero
namespaceKDL.html
a3a66a9767257c9a79eadcba0367a8ddf
(Rall2d< T, V, S > &value)
void
SetToZero
namespaceKDL.html
af728f5fb88f6dfdca91afeae2d036d75
(JntArrayVel &array)
void
SetToZero
namespaceKDL.html
a11a7cb9d8b92e0170f7bbfa76b378704
(JntArrayAcc &array)
void
SetToZero
namespaceKDL.html
a3dd6492d65329fce08a49950b28256ee
(JntSpaceInertiaMatrix &mat)
double
SIGN
namespaceKDL.html
ad2be3f0ee76cde337e1ad2f047bce434
(double a, double b)
double
sign
namespaceKDL.html
a26d8ca57d3f08fc3ae0c00b3fc7b2d94
(double arg)
INLINE Rall2d< T, V, S >
sin
namespaceKDL.html
aec3b56df50f199741cf7f2eaf6187051
(const Rall2d< T, V, S > &arg)
INLINE Rall1d< T, V, S >
sin
namespaceKDL.html
ad75e917c4141823627a64b5cfc912eda
(const Rall1d< T, V, S > &arg)
double
sin
namespaceKDL.html
a83eeaaa67bf4c15196b7ca7b44a8ebf1
(double a)
INLINE Rall1d< T, V, S >
sinh
namespaceKDL.html
a1c9ec321012adc09c9aa66b03d06545b
(const Rall1d< T, V, S > &arg)
double
sinh
namespaceKDL.html
a0d650809e1cc8fb0b490a330c8ee3501
(double a)
INLINE Rall2d< T, V, S >
sinh
namespaceKDL.html
aa154e163f0597be89a5ae4e4db4fbfc0
(const Rall2d< T, V, S > &arg)
double
sqr
namespaceKDL.html
a807ad524ab1bc63cf7f30e34e8f379e8
(double arg)
INLINE Rall1d< T, V, S >
sqr
namespaceKDL.html
af1b48945aeed7c276806449802481a08
(const Rall1d< T, V, S > &arg)
INLINE Rall2d< T, V, S >
sqr
namespaceKDL.html
aaa4bd8cc4cbf315b38a11542634bd4d8
(const Rall2d< T, V, S > &arg)
double
sqrt
namespaceKDL.html
a4c17e5a3698f4fd73e13958436629801
(double a)
INLINE Rall2d< T, V, S >
sqrt
namespaceKDL.html
a41c73e4ca2b95ea025688ac60ffc1d42
(const Rall2d< T, V, S > &arg)
INLINE Rall1d< T, V, S >
sqrt
namespaceKDL.html
aa6caeaeca2777225cf1f09355e286d27
(const Rall1d< T, V, S > &arg)
void
Subtract
namespaceKDL.html
aadbca4bf9398d905195352bb15fffb06
(const JntArrayVel &src1, const JntArray &src2, JntArrayVel &dest)
void
Subtract
namespaceKDL.html
a0c8b3f55e1a6fb791e14bcb8e0b5e9d4
(const JntArrayAcc &src1, const JntArrayVel &src2, JntArrayAcc &dest)
void
Subtract
namespaceKDL.html
a11d30225535a30ab654b8709f63e01f3
(const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
void
Subtract
namespaceKDL.html
ae4d61bfbf31b933f7843f71328966e85
(const JntArrayVel &src1, const JntArrayVel &src2, JntArrayVel &dest)
void
Subtract
namespaceKDL.html
a9bac2127ca5bdf3e32005ba6c4b6e7ce
(const JntArrayAcc &src1, const JntArray &src2, JntArrayAcc &dest)
void
Subtract
namespaceKDL.html
ac44746c206c669411831b6caff88e421
(const JntArray &src1, const JntArray &src2, JntArray &dest)
void
Subtract
namespaceKDL.html
ad7871e05e7ecc703e39a9256dbc3ea4c
(const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2, JntSpaceInertiaMatrix &dest)
int
svd_eigen_HH
namespaceKDL.html
aa65086d19c5309a3457bc223ee5080e4
(const MatrixXd &A, MatrixXd &U, VectorXd &S, MatrixXd &V, VectorXd &tmp, int maxiter, double epsilon)
int
svd_eigen_Macie
namespaceKDL.html
a1ffa30e1db026c43a7a6fe8b3e2f866c
(const Eigen::MatrixXd &A, Eigen::MatrixXd &U, Eigen::VectorXd &S, Eigen::MatrixXd &V, Eigen::MatrixXd &B, Eigen::VectorXd &tempi, double threshold, bool toggle)
void
swap
namespaceKDL.html
a8d333b9b7dd404a61e9a28d18cf9b798
(scoped_ptr< T > &, scoped_ptr< T > &)
INLINE Rall1d< T, V, S >
tan
namespaceKDL.html
ae2a9f81586eda282e1a1ffe9e6d2c4b4
(const Rall1d< T, V, S > &arg)
double
tan
namespaceKDL.html
a4745e37091ce2f99620a8f655b689d5b
(double a)
INLINE Rall2d< T, V, S >
tan
namespaceKDL.html
a937d2213d891795af2a5e491cccd5350
(const Rall2d< T, V, S > &arg)
double
tanh
namespaceKDL.html
a88109e831bec435e602116a20afdd728
(double a)
INLINE Rall2d< T, V, S >
tanh
namespaceKDL.html
a1081ccc535a2243f01697c71350f3886
(const Rall2d< T, V, S > &arg)
INLINE Rall1d< T, V, S >
tanh
namespaceKDL.html
a66e2106429c51143468bd90e27f576fc
(const Rall1d< T, V, S > &arg)
std::string
tree2str
namespaceKDL.html
a41887a706e492cdc9233cd8a8d1941fd
(const SegmentMap::const_iterator it, const std::string &separator, const std::string &preamble, unsigned int level)
std::string
tree2str
namespaceKDL.html
a47c82d0ef17bb32147727b66899b5a64
(const Tree &tree, const std::string &separator, const std::string &preamble)
void
Twist_to_Eigen
namespaceKDL.html
ad99081b5fff0a9d43dfc07a3f64ee714
(const KDL::Twist &t, Eigen::MatrixBase< Derived > &e)
const double
deg2rad
namespaceKDL.html
a13e35fb20991715e2e62f926f50d32ef
double
epsilon
namespaceKDL.html
ad69840ad33dc4985798237acfd5fd048
static const double
L0
namespaceKDL.html
a35956496bbd1a2ca3a5c7e66f58b20b4
static const double
L1
namespaceKDL.html
ac1c8ba5dc96829d42bbcbd9acc918845
static const double
L2
namespaceKDL.html
af4cea78cef6b19a2fd7c5cfa8277e390
static const double
L3
namespaceKDL.html
acd4cd01f70c4e54086741eb7c0deb458
static const double
L4
namespaceKDL.html
ad5ee36c66f5e923cfa7fa9277d61d778
static const double
L5
namespaceKDL.html
abb468a531abf653db7e349673eb99b15
int
MAXLENFILENAME
namespaceKDL.html
a7a47ab8b28f696d7994692f27295aa7c
static const bool
mhi
namespaceKDL.html
aa32a96d64e25d59e3587464cbfca82e7
const double
PI
namespaceKDL.html
a8deb2bd8c8926513a18283b4af0de0fd
const double
rad2deg
namespaceKDL.html
a6adad4aa09f1426ea5805e7071f01bce
int
STREAMBUFFERSIZE
namespaceKDL.html
af3e337367c4790df4e3d3aa76b3d6486
int
VSIZE
namespaceKDL.html
a97a3fc02283b954c92f9a84d5059fb49
math3d
namespacemath3d.html
math3d::color_rgb24
math3d::invalid_vector
math3d::matrix
math3d::matrix3x3
math3d::oriented_point3d
math3d::quaternion
math3d::triangle
math3d::vec3d
vec3d< double >
normal3d
namespacemath3d.html
a3f6f3986347e93c0d2431d5812ded814
vec3d< double >
point3d
namespacemath3d.html
ac16b44a3f36c0f61a54c5f97a7c98c86
std::pair< matrix3x3< double >, point3d >
rigid_motion_t
namespacemath3d.html
a2a1ca474e454713bbffebd378dd4e86a
bool
almost_zero
namespacemath3d.html
a6044b1be5a6dc8596fb09d80353119f8
(T a, double e)
void
conjugate
namespacemath3d.html
a0bcb3156a3df0ac31a405c62a142c161
(quaternion< T > &q)
vec3d< T >
cross_product
namespacemath3d.html
af819434f5430e6cdb7274aba561726a8
(const vec3d< T > &v1, const vec3d< T > &v2)
double
dist
namespacemath3d.html
a34156307d61c636ea500c51cdd6678f2
(const T &p1, const T &p2)
T
dot
namespacemath3d.html
a977e5fd6f0f340a95bd70d300fe41201
(const quaternion< T > &a, const quaternion< T > &b)
T
dot_product
namespacemath3d.html
abc6e60b3c52ef34e426d2035ba133765
(const vec3d< T > &v1, const vec3d< T > &v2)
double
dot_product
namespacemath3d.html
ac349d8ff1091579210f0869fa92ee783
(const vec3d< T > &v1, const vec3d< S > &v2)
T
dot_product
namespacemath3d.html
a639981f8728f401b5bbceb39bf372a12
(const quaternion< T > &p, const quaternion< T > &q)
vec3d< T >
get_normalize
namespacemath3d.html
a9bcc8340bc2b3e0c6943756846a88f9b
(const vec3d< T > &p)
vec3d< T >
get_rotate
namespacemath3d.html
a97329e36b3f1795b39464cddfb649972
(const vec3d< T > &v, const quaternion< T > &q)
vec3d< T >
get_rotate
namespacemath3d.html
aafd75d6a9deabf0d59c5b9a3a88d95db
(const vec3d< T > &p, const matrix3x3< T > &rot)
vec3d< T >
get_rotate_translate
namespacemath3d.html
a8a7e66fa0958c3eb02c6fa3db9575ea6
(const vec3d< T > &p, const matrix3x3< T > &rot, const point3d &t)
vec3d< T >
get_rotate_translate
namespacemath3d.html
af768a196f9e52a080af4ead00a49eb71
(const vec3d< T > &p, const matrix< T > &rot, const point3d &t)
vec3d< T >
get_rotate_translate
namespacemath3d.html
aff6eee3d95165f30bc9fe71ab7c8e734
(const vec3d< T > &p, const T *rot, const T *t)
vec3d< T >
get_rotate_translate
namespacemath3d.html
a1c6a35ac1e0007a6412eea5c1e69c10d
(const vec3d< T > &v, const quaternion< T > &rot, const point3d &t)
matrix3x3< T >
get_transpose
namespacemath3d.html
a7c969af14b05c0b77f2810124054b979
(const matrix3x3< T > &m)
matrix3x3< T >
identity3x3
namespacemath3d.html
ab33464abf2c62055e191055df961ba3c
()
void
invert
namespacemath3d.html
a4b73a8c08dcbb3cc875996a815cef551
(R &r, T &t)
double
magnitude
namespacemath3d.html
a6149f30261c16dab99f52c8496718f44
(const T &p)
double
median
namespacemath3d.html
a7a6d413c3fd8a41c1af00cdd9a710ae7
(Iterator start, Iterator end)
void
mult_matrix
namespacemath3d.html
a5cdd916e948d33f0e7970c6230738d1e
(const matrix3x3< T > &m1, const matrix3x3< T > &m2, matrix3x3< T > &r)
void
mult_matrix
namespacemath3d.html
adc320801a7f208ff64f68ebbcdfa07fe
(const Rot1 &m1, const Rot2 &m2, Rot3 &r)
void
mult_matrix_inplace
namespacemath3d.html
a389a9726ee3b4a8aa669b27532486cd9
(const matrix3x3< T > &m1, const matrix3x3< T > &m2, matrix3x3< T > &r)
void
mult_quaternion
namespacemath3d.html
ad630187b9430df515e76dd9f5af2902e
(const quaternion< T > &a, const quaternion< T > &b, quaternion< T > &r)
T
norm
namespacemath3d.html
a4bec8e5bb1312b5a2f12ac50541c4e5e
(const quaternion< T > &a)
double
norm2
namespacemath3d.html
a954432307872ae46e637a30dbcf4c014
(const T &v)
void
normalize
namespacemath3d.html
a5114f59f0561f3d80c4542fb0c3b8d69
(quaternion< T > &q)
double
normalize
namespacemath3d.html
a7a93e24bcac87fe99f526bf0c77d1739
(vec3d< T > &p)
quaternion< T >
operator*
namespacemath3d.html
a95813fdac8a5367ad196e4cfda97624a
(const quaternion< T > &a, const quaternion< T > &b)
quaternion< T >
operator+
namespacemath3d.html
a135f3dc74626c2d58d1d56fac5b23ed1
(const quaternion< T > &a, const quaternion< T > &b)
quaternion< T >
operator~
namespacemath3d.html
ac344a97ce3e073d7babc2e49959bbe61
(const quaternion< T > &a)
matrix3x3< T >
quaternion_to_rot_matrix
namespacemath3d.html
af12cd151bb50be9ce88ef6469bc5bfb5
(const quaternion< T > &q)
void
relative_motion
namespacemath3d.html
af12acf9586f48881698ac63e0fb08454
(const matrix3x3< T > &Ri, const point3d &Ti, const matrix3x3< T > &Rj, const point3d &Tj, matrix3x3< T > &Rij, point3d &Tij)
quaternion< T >
rot_matrix_to_quaternion
namespacemath3d.html
a001df62974d8314b513a46f591df8445
(const matrix3x3< T > &m)
void
rotate
namespacemath3d.html
a3e8782ea8742c05bea04b1d10848bdbc
(vec3d< T > &p, const matrix< T > &rot)
void
rotate
namespacemath3d.html
a8061261dfbe6807e91bf0f0b83c73761
(vec3d< T > &p, const matrix3x3< T > &rot)
void
rotate
namespacemath3d.html
a7912e450c77cd86925aeb895966eacb7
(vec3d< T > &p, const matrix< S > &rot)
void
rotate
namespacemath3d.html
a136e40d9439d02fe5766d386deb94859
(vec3d< T > &p, const matrix3x3< S > &rot)
void
rotate
namespacemath3d.html
aed1589940ab8397bb56e4de9a011c834
(vec3d< T > &p, const quaternion< T > &rot)
void
rotate_translate
namespacemath3d.html
a2e273ced84ce3ab79fb316717b00c0e2
(vec3d< T > &v, const RotationType &rot, const point3d &trans)
void
set_identity
namespacemath3d.html
a1a43556607165955ee62c9786e6c822d
(quaternion< T > &q)
void
set_identity
namespacemath3d.html
a05cbbe32c06121ef98ab195de35ee98b
(matrix< T > &m, T val=1)
void
set_identity
namespacemath3d.html
a3cde300ae9781a9eb3557393ab055dee
(matrix3x3< T > &m, T val=1)
double
squared_dist
namespacemath3d.html
af4fa74d780ab9d8c387044159944c8d5
(const vec3d< T > &p1, const vec3d< T > &p2)
void
transpose
namespacemath3d.html
a13aafc19fac89ac73b5ce1a1d63ed613
(matrix< T > &m)
void
transpose
namespacemath3d.html
a3d4b472c1eeda86f4a1e6c23ac67afae
(matrix3x3< T > &m)
void
transpose
namespacemath3d.html
a50d87711392ff38821bb1867f8459d29
(const matrix< T > &src, matrix< T > &dest)
void
transpose
namespacemath3d.html
a6cf66edb00aa93d337f8b77a0b81f397
(const matrix3x3< T > &src, matrix3x3< T > &dest)
static const double
deg_on_rad
namespacemath3d.html
a8f3db0db20a3556fa2ec98ef8a775ab6
static const double
pi
namespacemath3d.html
ae87c968fca69098c3f611f4819924fe8
static const double
rad_on_deg
namespacemath3d.html
a57a228035796970447a54f94759aeaec
NLOPT_IK
namespaceNLOPT__IK.html
NLOPT_IK::NLOPT_IK
OptType
namespaceNLOPT__IK.html
a188014d03229b2e33ba303dc7902b38a
Joint
namespaceNLOPT__IK.html
a188014d03229b2e33ba303dc7902b38aa80e4314dedf79ab11f959c4384b99a0f
DualQuat
namespaceNLOPT__IK.html
a188014d03229b2e33ba303dc7902b38aadecb9959999c6059fa6d1e888c451a09
SumSq
namespaceNLOPT__IK.html
a188014d03229b2e33ba303dc7902b38aa25fb880607b8fb66d9aef7f18187f19f
L2
namespaceNLOPT__IK.html
a188014d03229b2e33ba303dc7902b38aa15ad82463f8076d5959ed714e5f36317
void
constrainfuncm
namespaceNLOPT__IK.html
a48c1a6da9465a095574d5f56d97f9ea9
(uint m, double *result, uint n, const double *x, double *grad, void *data)
double
minfunc
namespaceNLOPT__IK.html
a8ae7fcc8897fd4b2c2df8f0a28981adb
(const std::vector< double > &x, std::vector< double > &grad, void *data)
double
minfuncDQ
namespaceNLOPT__IK.html
a0b7f0d20bbce67ad832d89edda3f6600
(const std::vector< double > &x, std::vector< double > &grad, void *data)
double
minfuncL2
namespaceNLOPT__IK.html
ad06855e1d11df63fa17566c2c8a8349d
(const std::vector< double > &x, std::vector< double > &grad, void *data)
double
minfuncSumSquared
namespaceNLOPT__IK.html
a13785f6e1ca2aedaa6c31596a1eebd5b
(const std::vector< double > &x, std::vector< double > &grad, void *data)
dual_quaternion
targetDQ
namespaceNLOPT__IK.html
a7a47e862bf31c8935280e2ed21d2d740
TRAC_IK
namespaceTRAC__IK.html
TRAC_IK::TRAC_IK
SolveType
namespaceTRAC__IK.html
af718f8dd8173681cb3d85876fb5d2f91
Speed
namespaceTRAC__IK.html
af718f8dd8173681cb3d85876fb5d2f91a23fe834c5869bd2c3491272418638b99
Distance
namespaceTRAC__IK.html
af718f8dd8173681cb3d85876fb5d2f91aaaac012235eb2eb6637072b36b7c99e5
Manip1
namespaceTRAC__IK.html
af718f8dd8173681cb3d85876fb5d2f91a5cbfabe019d09b1af51bb33be915fae6
Manip2
namespaceTRAC__IK.html
af718f8dd8173681cb3d85876fb5d2f91a41e2a60888b4c53ac140a9278185f58b
void
normalizeAngle
namespaceTRAC__IK.html
a63957187d69471f9b0922ab6f6e481b4
(double &val, const double &min, const double &max)
void
normalizeAngle
namespaceTRAC__IK.html
aaa556cea26caee6ea1cb4f27ff0bcdd5
(double &val, const double &target)