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kdl_install/include/kdl/utilities/rallNd.h

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+#ifndef RALLND_H
+#define RALLND_H
+
+#include "rall1d.h"
+#include "rall1d_io.h"
+#include "rall2d.h"
+#include "rall2d_io.h"
+/**
+ * The Rall1d class allows for a 24-line implementation of rall numbers
+ * generalized to the Nth derivative !
+ * The efficiency is not very good for high derivatives.
+ * This could be improved by also using Rall2d 
+ *
+template <int N>
+class RallNd :
+	public Rall1d< RallNd<N-1>, RallNd<N-1>, double >
+{
+public:
+	RallNd() {}
+	RallNd(const Rall1d< RallNd<N-1>, RallNd<N-1>,double>& arg) : 
+		Rall1d< RallNd<N-1>, RallNd<N-1>,double>(arg) {}
+	RallNd(double value,double d[]) {
+		this->t    = RallNd<N-1>(value,d);
+		this->grad = RallNd<N-1>(d[0],&d[1]);
+	}
+};
+
+template <>
+class RallNd<1> : public Rall1d<double>  {
+public:
+	RallNd() {}
+	RallNd(const Rall1d<double>& arg) :
+		Rall1d<double,double,double>(arg) {}
+	RallNd(double value,double d[]) {
+		t    = value;
+		grad = d[0];
+	}
+};
+*/
+/**
+ * to be checked..
+ */
+
+/**
+ * Als je tot 3de orde een efficiente berekening kan doen,
+ * dan kan je tot een willekeurige orde alles efficient berekenen
+ * 0 1 2 3
+ * ==> 1 2 3 4
+ * ==> 3 4 5 6    
+ * 4 5 6 7
+ *
+ * de aangeduide berekeningen zijn niet noodzakelijk, en er is dan niets
+ * verniet berekend in de recursieve implementatie.  
+ * of met 2de orde over 1ste order : kan ook efficient :
+ * 0 1
+ * ==>1 2
+ * 2 3
+ */
+// N>2:
+template <int N>
+class RallNd :
+	public Rall2d< RallNd<N-2>, RallNd<N-2>, double >
+{
+public:
+	RallNd() {}
+	RallNd(const Rall2d< RallNd<N-2>, RallNd<N-2>,double>& arg) : 
+		Rall2d< RallNd<N-2>, RallNd<N-2>,double>(arg) {}
+	RallNd(double value,double d[]) {
+		this->t    = RallNd<N-2>(value,d);    // 0 1 2
+		this->d    = RallNd<N-2>(d[0],&d[1]); // 1 2 3 iseigenlijk niet nodig
+		this->dd   = RallNd<N-2>(d[1],&d[2]); // 2 3 4
+	}
+};
+
+template <>
+class RallNd<2> : public Rall2d<double>  {
+public:
+	RallNd() {}* (dwz. met evenveel numerieke operaties als een 
+	RallNd(const Rall2d<double>& arg) :
+		Rall2d<double>(arg) {}
+	RallNd(double value,double d[]) {
+		t    = value;
+		d = d[0];
+		dd= d[1];
+	}
+};
+
+template <>
+class RallNd<1> : public Rall1d<double>  {
+public:
+	RallNd() {}
+	RallNd(const Rall1d<double>& arg) :
+		Rall1d<double>(arg) {}
+	RallNd(double value,double d[]) {
+		t    = value;
+		grad = d[0];
+	}
+};
+
+#endif
+