68 lines
2.9 KiB
C++
68 lines
2.9 KiB
C++
// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#ifndef KDL_JNTARRAYACC_HPP
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#define KDL_JNTARRAYACC_HPP
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#include "utilities/utility.h"
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#include "jntarray.hpp"
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#include "jntarrayvel.hpp"
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#include "frameacc.hpp"
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namespace KDL
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{
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class JntArrayAcc
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{
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public:
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JntArray q;
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JntArray qdot;
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JntArray qdotdot;
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public:
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JntArrayAcc(unsigned int size);
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JntArrayAcc(const JntArray& q,const JntArray& qdot,const JntArray& qdotdot);
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JntArrayAcc(const JntArray& q,const JntArray& qdot);
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JntArrayAcc(const JntArray& q);
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JntArray value()const;
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JntArray deriv()const;
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JntArray dderiv()const;
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friend void Add(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest);
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friend void Add(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest);
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friend void Add(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest);
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friend void Subtract(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest);
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friend void Subtract(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest);
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friend void Subtract(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest);
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friend void Multiply(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest);
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friend void Multiply(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest);
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friend void Multiply(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest);
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friend void Divide(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest);
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friend void Divide(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest);
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friend void Divide(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest);
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friend void SetToZero(JntArrayAcc& array);
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friend bool Equal(const JntArrayAcc& src1,const JntArrayAcc& src2,double eps);
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};
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bool Equal(const JntArrayAcc&, const JntArrayAcc&, double = epsilon);
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}
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#endif
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