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wangdequan
2026-06-27 09:25:04 -04:00
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commit f0e96308d2
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kdl_install/include/kdl/jntarrayacc.hpp Normal file
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// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// Lesser General Public License for more details.
// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
#ifndef KDL_JNTARRAYACC_HPP
#define KDL_JNTARRAYACC_HPP
#include "utilities/utility.h"
#include "jntarray.hpp"
#include "jntarrayvel.hpp"
#include "frameacc.hpp"
namespace KDL
{
// Equal is friend function, but default arguments for friends are forbidden (§8.3.6.4)
class JntArrayAcc;
bool Equal(const JntArrayAcc& src1,const JntArrayAcc& src2,double eps=epsilon);
void Add(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest);
void Add(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest);
void Add(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest);
void Subtract(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest);
void Subtract(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest);
void Subtract(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest);
void Multiply(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest);
void Multiply(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest);
void Multiply(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest);
void Divide(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest);
void Divide(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest);
void Divide(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest);
void SetToZero(JntArrayAcc& array);
class JntArrayAcc
{
public:
JntArray q;
JntArray qdot;
JntArray qdotdot;
public:
JntArrayAcc(){};
explicit JntArrayAcc(unsigned int size);
JntArrayAcc(const JntArray& q,const JntArray& qdot,const JntArray& qdotdot);
JntArrayAcc(const JntArray& q,const JntArray& qdot);
explicit JntArrayAcc(const JntArray& q);
void resize(unsigned int newSize);
JntArray value()const;
JntArray deriv()const;
JntArray dderiv()const;
friend void Add(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest);
friend void Add(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest);
friend void Add(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest);
friend void Subtract(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest);
friend void Subtract(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest);
friend void Subtract(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest);
friend void Multiply(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest);
friend void Multiply(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest);
friend void Multiply(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest);
friend void Divide(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest);
friend void Divide(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest);
friend void Divide(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest);
friend void SetToZero(JntArrayAcc& array);
friend bool Equal(const JntArrayAcc& src1,const JntArrayAcc& src2,double eps);
};
}
#endif