traits.h
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1 #ifndef KDLPV_TRAITS_H
2 #define KDLPV_TRAITS_H
3 
4 #include "utility.h"
5 
6 
7 // forwards declarations :
8 namespace KDL {
9  class Frame;
10  class Rotation;
11  class Vector;
12  class Twist;
13  class Wrench;
14  class FrameVel;
15  class RotationVel;
16  class VectorVel;
17  class TwistVel;
18 }
19 
20 
37 template <typename T>
38 struct Traits {
39  typedef T valueType;
40  typedef T derivType;
41 };
42 
43 template <>
44 struct Traits<KDL::Frame> {
47 };
48 template <>
49 struct Traits<KDL::Twist> {
52 };
53 template <>
54 struct Traits<KDL::Wrench> {
57 };
58 
59 template <>
60 struct Traits<KDL::Rotation> {
63 };
64 
65 template <>
66 struct Traits<KDL::Vector> {
69 };
70 
71 template <>
72 struct Traits<double> {
73  typedef double valueType;
74  typedef double derivType;
75 };
76 
77 template <>
78 struct Traits<float> {
79  typedef float valueType;
80  typedef float derivType;
81 };
82 
83 template <>
84 struct Traits<KDL::FrameVel> {
87 };
88 template <>
89 struct Traits<KDL::TwistVel> {
92 };
93 
94 template <>
95 struct Traits<KDL::RotationVel> {
98 };
99 
100 template <>
101 struct Traits<KDL::VectorVel> {
104 };
105 
106 
107 
108 #endif
109 
110 
111 
double valueType
Definition: traits.h:73
represents rotations in 3 dimensional space.
Definition: frames.hpp:301
KDL::Frame valueType
Definition: traits.h:45
KDL::Rotation valueType
Definition: traits.h:96
T valueType
Definition: traits.h:39
KDL::Twist valueType
Definition: traits.h:50
KDL::Vector valueType
Definition: traits.h:67
Traits are traits classes to determine the type of a derivative of another type.
Definition: traits.h:38
KDL::VectorVel derivType
Definition: traits.h:97
KDL::Twist derivType
Definition: traits.h:51
represents both translational and rotational velocities.
Definition: frames.hpp:720
KDL::Vector derivType
Definition: traits.h:62
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
float derivType
Definition: traits.h:80
KDL::Twist derivType
Definition: traits.h:46
double derivType
Definition: traits.h:74
KDL::Wrench valueType
Definition: traits.h:55
KDL::TwistVel derivType
Definition: traits.h:91
float valueType
Definition: traits.h:79
KDL::Rotation valueType
Definition: traits.h:61
KDL::Vector derivType
Definition: traits.h:68
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
KDL::VectorVel derivType
Definition: traits.h:103
represents both translational and rotational acceleration.
Definition: frames.hpp:878
KDL::Vector valueType
Definition: traits.h:102
KDL::Wrench derivType
Definition: traits.h:56
T derivType
Definition: traits.h:40
KDL::TwistVel derivType
Definition: traits.h:86
KDL::Frame valueType
Definition: traits.h:85
KDL::Twist valueType
Definition: traits.h:90


orocos_kdl
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autogenerated on Sat Jun 19 2021 02:16:26