22#ifndef KDL_JNTARRAYACC_HPP
23#define KDL_JNTARRAYACC_HPP
25#include "utilities/utility.h"
34 bool Equal(
const JntArrayAcc& src1,
const JntArrayAcc& src2,
double eps=epsilon);
35 void Add(
const JntArrayAcc& src1,
const JntArrayAcc& src2,JntArrayAcc& dest);
36 void Add(
const JntArrayAcc& src1,
const JntArrayVel& src2,JntArrayAcc& dest);
37 void Add(
const JntArrayAcc& src1,
const JntArray& src2,JntArrayAcc& dest);
38 void Subtract(
const JntArrayAcc& src1,
const JntArrayAcc& src2,JntArrayAcc& dest);
39 void Subtract(
const JntArrayAcc& src1,
const JntArrayVel& src2,JntArrayAcc& dest);
40 void Subtract(
const JntArrayAcc& src1,
const JntArray& src2,JntArrayAcc& dest);
41 void Multiply(
const JntArrayAcc& src,
const double& factor,JntArrayAcc& dest);
44 void Divide(
const JntArrayAcc& src,
const double& factor,JntArrayAcc& dest);
45 void Divide(
const JntArrayAcc& src,
const doubleVel& factor,JntArrayAcc& dest);
46 void Divide(
const JntArrayAcc& src,
const doubleAcc& factor,JntArrayAcc& dest);
62 void resize(
unsigned int newSize);
Definition: jntarrayacc.hpp:50
JntArray q
Definition: jntarrayacc.hpp:52
JntArray deriv() const
Definition: jntarrayacc.cpp:57
JntArrayAcc()
Definition: jntarrayacc.hpp:56
friend void Multiply(const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
Definition: jntarrayacc.cpp:104
JntArray dderiv() const
Definition: jntarrayacc.cpp:61
JntArray value() const
Definition: jntarrayacc.cpp:52
friend void SetToZero(JntArrayAcc &array)
Definition: jntarrayacc.cpp:164
friend void Subtract(const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
Definition: jntarrayacc.cpp:85
JntArray qdotdot
Definition: jntarrayacc.hpp:54
friend void Add(const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
Definition: jntarrayacc.cpp:66
JntArray qdot
Definition: jntarrayacc.hpp:53
void resize(unsigned int newSize)
Definition: jntarrayacc.cpp:45
friend void Divide(const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
Definition: jntarrayacc.cpp:133
friend bool Equal(const JntArrayAcc &src1, const JntArrayAcc &src2, double eps)
Definition: jntarrayacc.cpp:171
Definition: jntarrayvel.hpp:46
Definition: jntarray.hpp:70
Definition: articulatedbodyinertia.cpp:26
void Add(const JntArray &src1, const JntArray &src2, JntArray &dest)
Function to add two joint arrays, all the arguments must have the same size: A + B = C.
Definition: jntarray.cpp:80
void Divide(const JntArray &src, const double &factor, JntArray &dest)
Function to divide all the array values with a scalar factor: A/b=C.
Definition: jntarray.cpp:95
void Multiply(const JntArray &src, const double &factor, JntArray &dest)
Function to multiply all the array values with a scalar factor: A*b=C.
Definition: jntarray.cpp:90
Rall1d< double > doubleVel
Definition: framevel.hpp:36
Rall2d< double, double, double > doubleAcc
Definition: frameacc.hpp:40
void SetToZero(Jacobian &jac)
Definition: jacobian.cpp:79
void Subtract(const JntArray &src1, const JntArray &src2, JntArray &dest)
Function to subtract two joint arrays, all the arguments must have the same size: A - B = C.
Definition: jntarray.cpp:85
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)