KDL Namespace Reference

Classes
class	ArticulatedBodyInertia
	6D Inertia of a articulated body More...
class	Chain
	This class encapsulates a serial kinematic interconnection structure. More...
class	ChainDynParam
	Implementation of a method to calculate the matrices H (inertia),C(coriolis) and G(gravitation) for the calculation torques out of the pose and derivatives. More...
class	ChainFkSolverAcc
	This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain. More...
class	ChainFkSolverPos
	This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain. More...
class	ChainFkSolverPos_recursive
	Implementation of a recursive forward position kinematics algorithm to calculate the position transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain). More...
class	ChainFkSolverVel
	This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain. More...
class	ChainFkSolverVel_recursive
	Implementation of a recursive forward position and velocity kinematics algorithm to calculate the position and velocity transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain). More...
class	ChainIdSolver
	This abstract class encapsulates the inverse dynamics solver for a KDL::Chain. More...
class	ChainIdSolver_RNE
	Recursive newton euler inverse dynamics solver. More...
class	ChainIkSolverAcc
	This abstract class encapsulates the inverse acceleration solver for a KDL::Chain. More...
class	ChainIkSolverPos
	This abstract class encapsulates the inverse position solver for a KDL::Chain. More...
class	ChainIkSolverPos_NR
	Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Chain. More...
class	ChainIkSolverPos_NR_JL
	Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Chain. More...
class	ChainIkSolverVel
	This abstract class encapsulates the inverse velocity solver for a KDL::Chain. More...
class	ChainIkSolverVel_pinv
	Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain. More...
class	ChainIkSolverVel_pinv_givens
	Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain. More...
class	ChainIkSolverVel_pinv_nso
	Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain. More...
class	ChainIkSolverVel_wdls
	Implementation of a inverse velocity kinematics algorithm based on the weighted pseudo inverse with damped least-square to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain. More...
class	ChainJntToJacSolver
	Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers. More...
class	Error
	Base class for errors generated by ORO_Geometry. More...
class	Error_BasicIO
class	Error_BasicIO_Exp_Delim
class	Error_BasicIO_File
class	Error_BasicIO_Not_A_Space
class	Error_BasicIO_Not_Opened
class	Error_BasicIO_ToBig
class	Error_BasicIO_Unexpected
class	Error_Chain_Unexpected_id
class	Error_ChainIO
class	Error_Criterium
class	Error_Criterium_Unexpected_id
class	Error_Frame_Frame_Unexpected_id
class	Error_Frame_Rotation_Unexpected_id
class	Error_Frame_Vector_Unexpected_id
class	Error_FrameIO
class	Error_Integrator
	Abstract subclass of all errors that can be thrown by Adaptive_Integrator. More...
class	Error_IO
class	Error_Limits
class	Error_Limits_Unexpected_id
class	Error_MotionIO
class	Error_MotionIO_Unexpected_MotProf
class	Error_MotionIO_Unexpected_Traj
class	Error_MotionPlanning
class	Error_MotionPlanning_Circle_No_Plane
class	Error_MotionPlanning_Circle_ToSmall
class	Error_MotionPlanning_Incompatible
class	Error_MotionPlanning_Not_Applicable
class	Error_MotionPlanning_Not_Feasible
class	Error_Not_Implemented
class	Error_Redundancy
class	Error_Redundancy_Illegal_Resolutiontype
class	Error_Redundancy_Low_Manip
class	Error_Redundancy_Unavoidable
class	Error_RedundancyIO
	Error_Redundancy indicates an error that occured during solving for redundancy. More...
class	Error_Stepsize_To_Small
	Error_Stepsize_To_Small is thrown if the stepsize becomes to small. More...
class	Error_Stepsize_Underflow
	Error_Stepsize_Underflow is thrown if the stepsize becomes to small. More...
class	Error_To_Many_Steps
	Error_To_Many_Steps is thrown if the number of steps needed to integrate to the desired accuracy becomes to big. More...
class	Frame
	represents a frame transformation in 3D space (rotation + translation) More...
class	Frame2
	A 2D frame class, for further documentation see the Frames class for methods with unchanged semantics. More...
class	FrameAcc
class	FrameVel
class	Jacobian
class	JntArray
	This class represents an fixed size array containing joint values of a KDL::Chain. More...
class	JntArrayAcc
class	JntArrayVel
class	JntSpaceInertiaMatrix
	This class represents an fixed size matrix containing the Joint-Space Inertia Matrix of a KDL::Chain. More...
class	Joint
	This class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties. More...
class	Path
	The specification of the path of a trajectory. More...
class	Path_Circle
	A circular Path with 'open ends'. More...
class	Path_Composite
	A Path being the composition of other Path objects. More...
class	Path_Cyclic_Closed
	A Path representing a closed circular movement, which is traversed a number of times. More...
class	Path_Line
	A path representing a line from A to B. More...
class	Path_Point
	A Path consisting only of a point in space. More...
class	Path_RoundedComposite
	The specification of a path, composed of way-points with rounded corners. More...
class	Rall1d
	Rall1d contains a value, and its gradient, and defines an algebraic structure on this pair. More...
class	Rall2d
	Rall2d contains a value, and its gradient and its 2nd derivative, and defines an algebraic structure on this pair. More...
class	RigidBodyInertia
	6D Inertia of a rigid body More...
class	Rotation
	represents rotations in 3 dimensional space. More...
class	Rotation2
	A 2D Rotation class, for conventions see Rotation. More...
class	RotationAcc
class	RotationalInertia
class	RotationalInterpolation
	RotationalInterpolation specifies the rotational part of a geometric trajectory The different derived objects specify different methods for interpolating rotations. More...
class	RotationalInterpolation_SingleAxis
	An interpolation algorithm which rotates a frame over the existing single rotation axis formed by start and end rotation. More...
class	RotationVel
class	Segment
	This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body inertia) with a joint and with "handles", root and tip to connect to other segments. More...
class	Stiffness
	Preliminary class to implement Stiffness, only diagonal stiffness is implemented no transformations provided. More...
class	SVD_HH
class	TI
	Auxiliary class for argument types (Trait-template class ). More...
class	TI< double >
class	TI< int >
class	Trajectory
	An abstract class that implements a trajectory contains a cartesian space trajectory and an underlying velocity profile. More...
class	Trajectory_Composite
	Trajectory_Composite implements a trajectory that is composed of underlying trajectoria. More...
class	Trajectory_Segment
	Trajectory_Segment combines a VelocityProfile and a Path into a trajectory. More...
class	Trajectory_Stationary
	Implements a "trajectory" of a stationary position for an amount of time. More...
class	Tree
	This class encapsulates a tree kinematic interconnection structure. More...
class	TreeElement
class	TreeFkSolverPos
	This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree. More...
class	TreeFkSolverPos_recursive
	Implementation of a recursive forward position kinematics algorithm to calculate the position transformation from joint space to Cartesian space of a general kinematic tree (KDL::Tree). More...
class	TreeIkSolverPos
	This abstract class encapsulates the inverse position solver for a KDL::Chain. More...
class	TreeIkSolverPos_NR_JL
	Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Tree. More...
class	TreeIkSolverVel
	This abstract class encapsulates the inverse velocity solver for a KDL::Tree. More...
class	TreeIkSolverVel_wdls
class	TreeJntToJacSolver
class	Twist
	represents both translational and rotational velocities. More...
class	TwistAcc
class	TwistVel
class	Vector
	A concrete implementation of a 3 dimensional vector class. More...
class	Vector2
	2D version of Vector More...
class	VectorAcc
class	VectorVel
class	VelocityProfile
	A VelocityProfile stores the velocity profile that is used within a trajectory. More...
class	VelocityProfile_Dirac
	A Dirac VelocityProfile generates an infinite velocity so that the position jumps from A to B in in infinite short time. More...
class	VelocityProfile_Rectangular
	A rectangular VelocityProfile generates a constant velocity for moving from A to B. More...
class	VelocityProfile_Trap
	A Trapezoidal VelocityProfile implementation. More...
class	VelocityProfile_TrapHalf
	A 'Half' Trapezoidal VelocityProfile. More...
class	Wrench
	represents both translational and rotational acceleration. More...
Typedefs
typedef Rall2d< double, double, double >	doubleAcc
typedef Rall1d< double >	doubleVel
typedef std::stack< std::string >	ErrorStack
typedef std::map< std::string, Frame >	Frames
typedef std::map< std::string, Jacobian >	Jacobians
typedef std::map< std::string, TreeElement >	SegmentMap
typedef std::map< std::string, Twist >	Twists
typedef std::vector< Wrench >	Wrenches
Functions
void	_check_istream (std::istream &is)
	checks validity of basic io of is
int	_EatSpace (std::istream &is, int *countp=NULL)
int	_EatUntilEndOfComment (std::istream &is, int *countp=NULL)
int	_EatUntilEndOfLine (std::istream &is, int *countp=NULL)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	abs (const Rall2d< T, V, S > &x)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	abs (const Rall1d< T, V, S > &x)
double	acos (double a)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	acos (const Rall2d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	acos (const Rall1d< T, V, S > &x)
void	Add (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2, JntSpaceInertiaMatrix &dest)
void	Add (const JntArrayVel &src1, const JntArray &src2, JntArrayVel &dest)
void	Add (const JntArrayVel &src1, const JntArrayVel &src2, JntArrayVel &dest)
void	Add (const JntArrayAcc &src1, const JntArray &src2, JntArrayAcc &dest)
void	Add (const JntArrayAcc &src1, const JntArrayVel &src2, JntArrayAcc &dest)
void	Add (const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
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.
double	addDelta (double a, double da, double dt)
FrameVel	addDelta (const FrameVel &a, const TwistVel &da, double dt=1.0)
RotationVel	addDelta (const RotationVel &a, const VectorVel &da, double dt=1.0)
VectorVel	addDelta (const VectorVel &a, const VectorVel &da, double dt=1.0)
doubleVel	addDelta (const doubleVel &a, const doubleVel &da, double dt=1.0)
IMETHOD Wrench	addDelta (const Wrench &a, const Wrench &da, double dt=1)
IMETHOD Twist	addDelta (const Twist &a, const Twist &da, double dt=1)
IMETHOD Frame	addDelta (const Frame &a, const Twist &da, double dt=1)
IMETHOD Rotation	addDelta (const Rotation &a, const Vector &da, double dt=1)
IMETHOD Vector	addDelta (const Vector &a, const Vector &da, double dt=1)
double	asin (double a)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	asin (const Rall2d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	asin (const Rall1d< T, V, S > &x)
double	atan (double a)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	atan (const Rall2d< T, V, S > &x)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	atan (const Rall1d< T, V, S > &x)
double	atan2 (double a, double b)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	atan2 (const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	atan2 (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
bool	changeBase (const Jacobian &src1, const Rotation &rot, Jacobian &dest)
bool	changeRefFrame (const Jacobian &src1, const Frame &frame, Jacobian &dest)
bool	changeRefPoint (const Jacobian &src1, const Vector &base_AB, Jacobian &dest)
double	cos (double a)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	cos (const Rall2d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	cos (const Rall1d< T, V, S > &arg)
double	cosh (double a)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	cosh (const Rall2d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	cosh (const Rall1d< T, V, S > &arg)
double	diff (double a, double b, double dt)
TwistVel	diff (const FrameVel &a, const FrameVel &b, double dt=1.0)
VectorVel	diff (const RotationVel &a, const RotationVel &b, double dt=1.0)
VectorVel	diff (const VectorVel &a, const VectorVel &b, double dt=1.0)
doubleVel	diff (const doubleVel &a, const doubleVel &b, double dt=1.0)
IMETHOD Wrench	diff (const Wrench &W_a_p1, const Wrench &W_a_p2, double dt=1)
IMETHOD Twist	diff (const Twist &a, const Twist &b, double dt=1)
IMETHOD Twist	diff (const Frame &F_a_b1, const Frame &F_a_b2, double dt=1)
IMETHOD Vector	diff (const Rotation &R_a_b1, const Rotation &R_a_b2, double dt)
	diff operator for displacement rotational velocity.
IMETHOD Vector	diff (const Vector &a, const Vector &b, double dt=1)
void	Divide (const JntSpaceInertiaMatrix &src, const double &factor, JntSpaceInertiaMatrix &dest)
void	Divide (const JntArrayVel &src, const doubleVel &factor, JntArrayVel &dest)
void	Divide (const JntArrayVel &src, const double &factor, JntArrayVel &dest)
void	Divide (const JntArrayAcc &src, const doubleAcc &factor, JntArrayAcc &dest)
void	Divide (const JntArrayAcc &src, const doubleVel &factor, JntArrayAcc &dest)
void	Divide (const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
void	Divide (const JntArray &src, const double &factor, JntArray &dest)
	Function to divide all the array values with a scalar factor: A/b=C.
doubleVel	dot (const Vector &lhs, const VectorVel &rhs)
doubleVel	dot (const VectorVel &lhs, const Vector &rhs)
doubleVel	dot (const VectorVel &lhs, const VectorVel &rhs)
double	dot (const Wrench &rhs, const Twist &lhs)
double	dot (const Twist &lhs, const Wrench &rhs)
double	dot (const Vector &lhs, const Vector &rhs)
doubleAcc	dot (const Vector &lhs, const VectorAcc &rhs)
doubleAcc	dot (const VectorAcc &lhs, const Vector &rhs)
doubleAcc	dot (const VectorAcc &lhs, const VectorAcc &rhs)
void	Eat (std::istream &is, const char *descript)
	Eats characters of the stream as long as they satisfy the description in descript.
void	Eat (std::istream &is, int delim)
	Eats characters of the stream until the character delim is encountered.
void	EatEnd (std::istream &is, int delim)
	Eats characters of the stream until the character delim is encountered similar to Eat(is,delim) but spaces at the end are not read.
void	EatWord (std::istream &is, const char delim, char storage, int maxsize)
	Eats a word of the stream delimited by the letters in delim or space(tabs.
bool	Equal (double a, double b, double eps=epsilon)
template<class T , class V , class S >
INLINE bool	Equal (const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x, double eps=epsilon)
template<class T , class V , class S >
INLINE bool	Equal (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x, double eps=epsilon)
bool	Equal (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2, double eps)
bool	Equal (const JntArrayVel &src1, const JntArrayVel &src2, double eps)
bool	Equal (const JntArrayAcc &src1, const JntArrayAcc &src2, double eps)
bool	Equal (const JntArray &src1, const JntArray &src2, double eps=epsilon)
	Function to check if two arrays are the same with a precision of eps.
bool	Equal (const Jacobian &a, const Jacobian &b, double eps)
bool	Equal (const TwistVel &a, const Twist &b, double eps)
bool	Equal (const Twist &a, const TwistVel &b, double eps)
bool	Equal (const TwistVel &a, const TwistVel &b, double eps)
bool	Equal (const RotationVel &r1, const Rotation &r2, double eps)
bool	Equal (const Rotation &r1, const RotationVel &r2, double eps)
bool	Equal (const RotationVel &r1, const RotationVel &r2, double eps)
bool	Equal (const VectorVel &r1, const Vector &r2, double eps)
bool	Equal (const Vector &r1, const VectorVel &r2, double eps)
bool	Equal (const VectorVel &r1, const VectorVel &r2, double eps)
bool	Equal (const FrameVel &r1, const Frame &r2, double eps)
bool	Equal (const Frame &r1, const FrameVel &r2, double eps)
bool	Equal (const FrameVel &r1, const FrameVel &r2, double eps)
bool	Equal (const Frame2 &a, const Frame2 &b, double eps)
bool	Equal (const Rotation2 &a, const Rotation2 &b, double eps)
bool	Equal (const Vector2 &a, const Vector2 &b, double eps)
bool	Equal (const Twist &a, const Twist &b, double eps)
bool	Equal (const Wrench &a, const Wrench &b, double eps)
bool	Equal (const Frame &a, const Frame &b, double eps)
bool	Equal (const Vector &a, const Vector &b, double eps)
bool	Equal (const Rotation &a, const Rotation &b, double eps)
bool	Equal (const TwistAcc &a, const Twist &b, double eps)
bool	Equal (const Twist &a, const TwistAcc &b, double eps)
bool	Equal (const TwistAcc &a, const TwistAcc &b, double eps)
bool	Equal (const FrameAcc &r1, const Frame &r2, double eps)
bool	Equal (const Frame &r1, const FrameAcc &r2, double eps)
bool	Equal (const FrameAcc &r1, const FrameAcc &r2, double eps)
bool	Equal (const RotationAcc &r1, const Rotation &r2, double eps)
bool	Equal (const Rotation &r1, const RotationAcc &r2, double eps)
bool	Equal (const RotationAcc &r1, const RotationAcc &r2, double eps)
bool	Equal (const VectorAcc &r1, const Vector &r2, double eps)
bool	Equal (const Vector &r1, const VectorAcc &r2, double eps)
bool	Equal (const VectorAcc &r1, const VectorAcc &r2, double eps)
double	exp (double a)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	exp (const Rall2d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	exp (const Rall1d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	hypot (const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	hypot (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
void	IOTrace (const std::string &description)
void	IOTraceOutput (std::ostream &os)
	outputs the IO-stack to a stream to provide a better errormessage.
void	IOTracePop ()
	pops a description of the IO-stack
void	IOTracePopStr (char *buffer, int size)
	outputs one element of the IO-stack to the buffer (maximally size chars) returns empty string if no elements on the stack.
double	LinComb (double alfa, double a, double beta, double b)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	LinComb (S alfa, const Rall2d< T, V, S > &a, const T &beta, const Rall2d< T, V, S > &b)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	LinComb (S alfa, const Rall1d< T, V, S > &a, const T &beta, const Rall1d< T, V, S > &b)
void	LinCombR (double alfa, double a, double beta, double b, double &result)
template<class T , class V , class S >
INLINE void	LinCombR (S alfa, const Rall2d< T, V, S > &a, const T &beta, const Rall2d< T, V, S > &b, Rall2d< T, V, S > &result)
template<class T , class V , class S >
INLINE void	LinCombR (S alfa, const Rall1d< T, V, S > &a, const T &beta, const Rall1d< T, V, S > &b, Rall1d< T, V, S > &result)
double	log (double a)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	log (const Rall2d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	log (const Rall1d< T, V, S > &arg)
double	max (double a, double b)
double	min (double a, double b)
void	Multiply (const JntSpaceInertiaMatrix &src, const JntArray &vec, JntArray &dest)
void	Multiply (const JntSpaceInertiaMatrix &src, const double &factor, JntSpaceInertiaMatrix &dest)
void	Multiply (const JntArrayVel &src, const doubleVel &factor, JntArrayVel &dest)
void	Multiply (const JntArrayVel &src, const double &factor, JntArrayVel &dest)
void	Multiply (const JntArrayAcc &src, const doubleAcc &factor, JntArrayAcc &dest)
void	Multiply (const JntArrayAcc &src, const doubleVel &factor, JntArrayAcc &dest)
void	Multiply (const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
void	Multiply (const JntArray &src, const double &factor, JntArray &dest)
	Function to multiply all the array values with a scalar factor: A*b=C.
void	MultiplyJacobian (const Jacobian &jac, const JntArray &src, Twist &dest)
	Function to multiply a KDL::Jacobian with a KDL::JntArray to get a KDL::Twist, it should not be used to calculate the forward velocity kinematics, the solver classes are built for this purpose.
double	Norm (double arg)
template<class T , class V , class S >
INLINE S	Norm (const Rall2d< T, V, S > &value)
template<class T , class V , class S >
INLINE S	Norm (const Rall1d< T, V, S > &value)
bool	operator!= (const Vector2 &a, const Vector2 &b)
bool	operator!= (const Rotation &a, const Rotation &b)
bool	operator!= (const Wrench &a, const Wrench &b)
bool	operator!= (const Twist &a, const Twist &b)
bool	operator!= (const Vector &a, const Vector &b)
bool	operator!= (const Frame &a, const Frame &b)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	operator* (const Rall2d< T, V, S > &v, S s)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	operator* (S s, const Rall2d< T, V, S > &v)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	operator* (const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator* (const Rall1d< T, V, S > &v, S s)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator* (S s, const Rall1d< T, V, S > &v)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator* (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
Wrench	operator* (const Stiffness &s, const Twist &t)
RotationalInertia	operator* (double a, const RotationalInertia &I)
RigidBodyInertia	operator* (const Rotation &M, const RigidBodyInertia &I)
RigidBodyInertia	operator* (const Frame &T, const RigidBodyInertia &I)
Wrench	operator* (const RigidBodyInertia &I, const Twist &t)
RigidBodyInertia	operator* (double a, const RigidBodyInertia &I)
TwistVel	operator* (const doubleVel &lhs, const TwistVel &rhs)
TwistVel	operator* (const TwistVel &lhs, const doubleVel &rhs)
TwistVel	operator* (double lhs, const TwistVel &rhs)
TwistVel	operator* (const TwistVel &lhs, double rhs)
VectorVel	operator* (const Rotation &R, const VectorVel &x)
VectorVel	operator* (const VectorVel &r2, const doubleVel &r1)
VectorVel	operator* (const doubleVel &r1, const VectorVel &r2)
VectorVel	operator* (const VectorVel &r1, double r2)
VectorVel	operator* (double r1, const VectorVel &r2)
VectorVel	operator* (const Vector &r1, const VectorVel &r2)
VectorVel	operator* (const VectorVel &r1, const Vector &r2)
VectorVel	operator* (const VectorVel &r1, const VectorVel &r2)
RotationVel	operator* (const RotationVel &r1, const Rotation &r2)
RotationVel	operator* (const Rotation &r1, const RotationVel &r2)
RotationVel	operator* (const RotationVel &r1, const RotationVel &r2)
FrameVel	operator* (const Frame &lhs, const FrameVel &rhs)
FrameVel	operator* (const FrameVel &lhs, const Frame &rhs)
FrameVel	operator* (const FrameVel &lhs, const FrameVel &rhs)
Frame2	operator* (const Frame2 &lhs, const Frame2 &rhs)
Rotation2	operator* (const Rotation2 &lhs, const Rotation2 &rhs)
Vector2	operator* (double lhs, const Vector2 &rhs)
Vector2	operator* (const Vector2 &lhs, double rhs)
Frame	operator* (const Frame &lhs, const Frame &rhs)
Wrench	operator* (const Twist &lhs, const Wrench &rhs)
Twist	operator* (const Twist &lhs, const Twist &rhs)
Twist	operator* (double lhs, const Twist &rhs)
Twist	operator* (const Twist &lhs, double rhs)
Wrench	operator* (double lhs, const Wrench &rhs)
Wrench	operator* (const Wrench &lhs, double rhs)
Vector	operator* (const Vector &lhs, const Vector &rhs)
Vector	operator* (double lhs, const Vector &rhs)
Vector	operator* (const Vector &lhs, double rhs)
Rotation	operator* (const Rotation &lhs, const Rotation &rhs)
TwistAcc	operator* (const doubleAcc &lhs, const TwistAcc &rhs)
TwistAcc	operator* (const TwistAcc &lhs, const doubleAcc &rhs)
TwistAcc	operator* (double lhs, const TwistAcc &rhs)
TwistAcc	operator* (const TwistAcc &lhs, double rhs)
FrameAcc	operator* (const Frame &lhs, const FrameAcc &rhs)
FrameAcc	operator* (const FrameAcc &lhs, const Frame &rhs)
FrameAcc	operator* (const FrameAcc &lhs, const FrameAcc &rhs)
VectorAcc	operator* (const Rotation &R, const VectorAcc &x)
RotationAcc	operator* (const RotationAcc &r1, const Rotation &r2)
RotationAcc	operator* (const Rotation &r1, const RotationAcc &r2)
RotationAcc	operator* (const RotationAcc &r1, const RotationAcc &r2)
VectorAcc	operator* (const VectorAcc &r2, const doubleAcc &r1)
VectorAcc	operator* (const doubleAcc &r1, const VectorAcc &r2)
VectorAcc	operator* (const VectorAcc &r1, double r2)
VectorAcc	operator* (double r1, const VectorAcc &r2)
VectorAcc	operator* (const Vector &r1, const VectorAcc &r2)
VectorAcc	operator* (const VectorAcc &r1, const Vector &r2)
VectorAcc	operator* (const VectorAcc &r1, const VectorAcc &r2)
ArticulatedBodyInertia	operator* (const Rotation &M, const ArticulatedBodyInertia &I)
ArticulatedBodyInertia	operator* (const Frame &T, const ArticulatedBodyInertia &I)
Wrench	operator* (const ArticulatedBodyInertia &I, const Twist &t)
ArticulatedBodyInertia	operator* (double a, const ArticulatedBodyInertia &I)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	operator+ (const Rall2d< T, V, S > &v, S s)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	operator+ (S s, const Rall2d< T, V, S > &v)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	operator+ (const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator+ (const Rall1d< T, V, S > &v, S s)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator+ (S s, const Rall1d< T, V, S > &v)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator+ (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
Stiffness	operator+ (const Stiffness &s1, const Stiffness &s2)
RotationalInertia	operator+ (const RotationalInertia &Ia, const RotationalInertia &Ib)
RigidBodyInertia	operator+ (const RigidBodyInertia &Ia, const RigidBodyInertia &Ib)
TwistVel	operator+ (const TwistVel &lhs, const TwistVel &rhs)
VectorVel	operator+ (const Vector &r1, const VectorVel &r2)
VectorVel	operator+ (const VectorVel &r1, const Vector &r2)
VectorVel	operator+ (const VectorVel &r1, const VectorVel &r2)
Vector2	operator+ (const Vector2 &lhs, const Vector2 &rhs)
Twist	operator+ (const Twist &lhs, const Twist &rhs)
Wrench	operator+ (const Wrench &lhs, const Wrench &rhs)
Vector	operator+ (const Vector &lhs, const Vector &rhs)
TwistAcc	operator+ (const TwistAcc &lhs, const TwistAcc &rhs)
VectorAcc	operator+ (const VectorAcc &r1, const Vector &r2)
VectorAcc	operator+ (const Vector &r1, const VectorAcc &r2)
VectorAcc	operator+ (const VectorAcc &r1, const VectorAcc &r2)
ArticulatedBodyInertia	operator+ (const RigidBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
ArticulatedBodyInertia	operator+ (const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	operator- (const Rall2d< T, V, S > &v, S s)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	operator- (S s, const Rall2d< T, V, S > &v)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	operator- (const Rall2d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	operator- (const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator- (const Rall1d< T, V, S > &v, S s)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator- (S s, const Rall1d< T, V, S > &v)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator- (const Rall1d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator- (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
TwistVel	operator- (const TwistVel &arg)
TwistVel	operator- (const TwistVel &lhs, const TwistVel &rhs)
VectorVel	operator- (const VectorVel &r)
VectorVel	operator- (const Vector &r1, const VectorVel &r2)
VectorVel	operator- (const VectorVel &r1, const Vector &r2)
VectorVel	operator- (const VectorVel &r1, const VectorVel &r2)
Vector2	operator- (const Vector2 &arg)
Vector2	operator- (const Vector2 &lhs, const Vector2 &rhs)
Vector	operator- (const Vector &arg)
Twist	operator- (const Twist &arg)
Twist	operator- (const Twist &lhs, const Twist &rhs)
Wrench	operator- (const Wrench &arg)
Wrench	operator- (const Wrench &lhs, const Wrench &rhs)
Vector	operator- (const Vector &lhs, const Vector &rhs)
TwistAcc	operator- (const TwistAcc &arg)
TwistAcc	operator- (const TwistAcc &lhs, const TwistAcc &rhs)
VectorAcc	operator- (const VectorAcc &r)
VectorAcc	operator- (const VectorAcc &r1, const Vector &r2)
VectorAcc	operator- (const Vector &r1, const VectorAcc &r2)
VectorAcc	operator- (const VectorAcc &r1, const VectorAcc &r2)
ArticulatedBodyInertia	operator- (const RigidBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
ArticulatedBodyInertia	operator- (const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	operator/ (const Rall2d< T, V, S > &v, S s)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	operator/ (S s, const Rall2d< T, V, S > &rhs)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	operator/ (const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator/ (const Rall1d< T, V, S > &v, S s)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator/ (S s, const Rall1d< T, V, S > &v)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	operator/ (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
TwistVel	operator/ (const TwistVel &lhs, const doubleVel &rhs)
TwistVel	operator/ (const TwistVel &lhs, double rhs)
VectorVel	operator/ (const VectorVel &r2, const doubleVel &r1)
VectorVel	operator/ (const VectorVel &r1, double r2)
Vector2	operator/ (const Vector2 &lhs, double rhs)
Twist	operator/ (const Twist &lhs, double rhs)
Wrench	operator/ (const Wrench &lhs, double rhs)
Vector	operator/ (const Vector &lhs, double rhs)
TwistAcc	operator/ (const TwistAcc &lhs, const doubleAcc &rhs)
TwistAcc	operator/ (const TwistAcc &lhs, double rhs)
VectorAcc	operator/ (const VectorAcc &r2, const doubleAcc &r1)
VectorAcc	operator/ (const VectorAcc &r1, double r2)
template<class T , class V , class S >
std::ostream &	operator<< (std::ostream &os, const Rall2d< T, V, S > &r)
template<class T , class V , class S >
std::ostream &	operator<< (std::ostream &os, const Rall1d< T, V, S > &r)
std::ostream &	operator<< (std::ostream &os, const JntSpaceInertiaMatrix &jntspaceinertiamatrix)
std::ostream &	operator<< (std::ostream &os, const Jacobian &jac)
std::ostream &	operator<< (std::ostream &os, const JntArray &array)
std::ostream &	operator<< (std::ostream &os, SegmentMap::const_iterator root)
std::ostream &	operator<< (std::ostream &os, const Tree &tree)
std::ostream &	operator<< (std::ostream &os, const Chain &chain)
std::ostream &	operator<< (std::ostream &os, const Segment &segment)
std::ostream &	operator<< (std::ostream &os, const Joint &joint)
std::ostream &	operator<< (std::ostream &os, const TwistVel &r)
std::ostream &	operator<< (std::ostream &os, const FrameVel &r)
std::ostream &	operator<< (std::ostream &os, const RotationVel &r)
std::ostream &	operator<< (std::ostream &os, const VectorVel &r)
std::ostream &	operator<< (std::ostream &os, const Frame2 &T)
std::ostream &	operator<< (std::ostream &os, const Rotation2 &R)
std::ostream &	operator<< (std::ostream &os, const Vector2 &v)
std::ostream &	operator<< (std::ostream &os, const Frame &T)
std::ostream &	operator<< (std::ostream &os, const Rotation &R)
std::ostream &	operator<< (std::ostream &os, const Wrench &v)
std::ostream &	operator<< (std::ostream &os, const Twist &v)
std::ostream &	operator<< (std::ostream &os, const Vector &v)
	width to be used when printing variables out with frames_io.h global variable, can be changed.
std::ostream &	operator<< (std::ostream &os, const TwistAcc &r)
std::ostream &	operator<< (std::ostream &os, const FrameAcc &r)
std::ostream &	operator<< (std::ostream &os, const RotationAcc &r)
std::ostream &	operator<< (std::ostream &os, const VectorAcc &r)
bool	operator== (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2)
bool	operator== (const JntArray &src1, const JntArray &src2)
bool	operator== (const Vector2 &a, const Vector2 &b)
bool	operator== (const Wrench &a, const Wrench &b)
bool	operator== (const Twist &a, const Twist &b)
bool	operator== (const Vector &a, const Vector &b)
bool	operator== (const Frame &a, const Frame &b)
bool	operator== (const Rotation &a, const Rotation &b)
std::istream &	operator>> (std::istream &is, JntSpaceInertiaMatrix &jntspaceinertiamatrix)
std::istream &	operator>> (std::istream &is, Jacobian &jac)
std::istream &	operator>> (std::istream &is, JntArray &array)
std::istream &	operator>> (std::istream &is, Tree &tree)
std::istream &	operator>> (std::istream &is, Chain &chain)
std::istream &	operator>> (std::istream &is, Segment &segment)
std::istream &	operator>> (std::istream &is, Joint &joint)
std::istream &	operator>> (std::istream &is, Frame2 &T)
std::istream &	operator>> (std::istream &is, Rotation2 &r)
std::istream &	operator>> (std::istream &is, Vector2 &v)
std::istream &	operator>> (std::istream &is, Frame &T)
std::istream &	operator>> (std::istream &is, Rotation &r)
std::istream &	operator>> (std::istream &is, Wrench &v)
std::istream &	operator>> (std::istream &is, Twist &v)
std::istream &	operator>> (std::istream &is, Vector &v)
void	posrandom (double &a)
void	posrandom (Stiffness &F)
void	posrandom (FrameVel &F)
void	posrandom (RotationVel &R)
void	posrandom (TwistVel &a)
void	posrandom (VectorVel &a)
void	posrandom (doubleVel &F)
void	posrandom (Frame &F)
void	posrandom (Rotation &R)
void	posrandom (Wrench &a)
void	posrandom (Twist &a)
void	posrandom (Vector &a)
double	pow (double a, double b)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	pow (const Rall2d< T, V, S > &arg, double m)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	pow (const Rall1d< T, V, S > &arg, double m)
double	PYTHAG (double a, double b)
void	random (double &a)
void	random (Stiffness &F)
void	random (FrameVel &F)
void	random (RotationVel &R)
void	random (TwistVel &a)
void	random (VectorVel &a)
void	random (doubleVel &F)
void	random (Frame &F)
void	random (Rotation &R)
void	random (Wrench &a)
void	random (Twist &a)
void	random (Vector &a)
Rotation	Rot (const Vector &axis_a_b)
	axis_a_b is a rotation vector, its norm is a rotation angle axis_a_b rotates the a frame towards the b frame.
void	SetToIdentity (double &arg)
	to uniformly set double, RNDouble,Vector,... objects to the identity element in template-classes
template<class T , class V , class S >
INLINE void	SetToIdentity (Rall2d< T, V, S > &value)
template<class T , class V , class S >
INLINE void	SetToIdentity (Rall1d< T, V, S > &value)
void	SetToZero (double &arg)
	to uniformly set double, RNDouble,Vector,... objects to zero in template-classes
template<class T , class V , class S >
INLINE void	SetToZero (Rall2d< T, V, S > &value)
template<class T , class V , class S >
INLINE void	SetToZero (Rall1d< T, V, S > &value)
void	SetToZero (JntSpaceInertiaMatrix &mat)
void	SetToZero (JntArrayVel &array)
void	SetToZero (JntArrayAcc &array)
void	SetToZero (JntArray &array)
	Function to set all the values of the array to 0.
void	SetToZero (Jacobian &jac)
void	SetToZero (TwistVel &v)
void	SetToZero (VectorVel &v)
void	SetToZero (Vector2 &v)
void	SetToZero (Wrench &v)
void	SetToZero (Twist &v)
void	SetToZero (Vector &v)
double	sign (double arg)
double	SIGN (double a, double b)
double	sin (double a)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	sin (const Rall2d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	sin (const Rall1d< T, V, S > &arg)
double	sinh (double a)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	sinh (const Rall2d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	sinh (const Rall1d< T, V, S > &arg)
double	sqr (double arg)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	sqr (const Rall2d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	sqr (const Rall1d< T, V, S > &arg)
double	sqrt (double a)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	sqrt (const Rall2d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	sqrt (const Rall1d< T, V, S > &arg)
void	Subtract (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2, JntSpaceInertiaMatrix &dest)
void	Subtract (const JntArrayVel &src1, const JntArray &src2, JntArrayVel &dest)
void	Subtract (const JntArrayVel &src1, const JntArrayVel &src2, JntArrayVel &dest)
void	Subtract (const JntArrayAcc &src1, const JntArray &src2, JntArrayAcc &dest)
void	Subtract (const JntArrayAcc &src1, const JntArrayVel &src2, JntArrayAcc &dest)
void	Subtract (const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
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.
int	svd_eigen_HH (const MatrixXd &A, MatrixXd &U, VectorXd &S, MatrixXd &V, VectorXd &tmp, int maxiter=150, double epsilon=1e-300)
	svd calculation of eigen matrices
int	svd_eigen_Macie (const MatrixXd &A, MatrixXd &U, VectorXd &S, MatrixXd &V, MatrixXd &B, VectorXd &tempi, double treshold, bool toggle)
double	tan (double a)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	tan (const Rall2d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	tan (const Rall1d< T, V, S > &arg)
double	tanh (double a)
template<class T , class V , class S >
INLINE Rall2d< T, V, S >	tanh (const Rall2d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S >	tanh (const Rall1d< T, V, S > &arg)
char	Upper (char ch)
Variables
const double	deg2rad = 0.01745329251994329576923690768488
	the value pi/180
double	epsilon = 0.000001
	default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001.
ErrorStack	errorstack
int	MAXLENFILENAME = 255
	maximal length of a file name
static const bool	mhi = true
const double	PI = 3.1415926535897932384626433832795
	the value of pi
const double	rad2deg = 57.2957795130823208767981548141052
	the value 180/pi
int	STREAMBUFFERSIZE = 10000
	/note linkage Something fishy about the difference between C++ and C in C++ const values default to INTERNAL linkage, in C they default to EXTERNAL linkage.
	USING_PART_OF_NAMESPACE_EIGEN
int	VSIZE
	the number of derivatives used in the RN-... objects.

Typedef Documentation

typedef Rall2d<double,double,double> KDL::doubleAcc

Definition at line 40 of file frameacc.hpp.

typedef Rall1d<double> KDL::doubleVel

Definition at line 36 of file framevel.hpp.

typedef std::stack<std::string> KDL::ErrorStack

Definition at line 27 of file error_stack.cxx.

typedef std::map<std::string, Frame> KDL::Frames

Definition at line 19 of file treeiksolver.hpp.

typedef std::map<std::string, Jacobian> KDL::Jacobians

Definition at line 18 of file treeiksolver.hpp.

typedef std::map<std::string,TreeElement> KDL::SegmentMap

Definition at line 34 of file tree.hpp.

typedef std::map<std::string, Twist> KDL::Twists

Definition at line 17 of file treeiksolver.hpp.

typedef std::vector<Wrench> KDL::Wrenches

Definition at line 32 of file chainidsolver.hpp.

Function Documentation

void KDL::_check_istream ( std::istream & is )

checks validity of basic io of is

Referenced by _EatSpace(), _EatUntilEndOfComment(), and _EatUntilEndOfLine().

int KDL::_EatSpace	(	std::istream &	is,
		int *	countp = `NULL`
	)

Definition at line 76 of file utility_io.cxx.

References _check_istream(), _EatUntilEndOfComment(), _EatUntilEndOfLine(), and RobotExampleTrajectoryOutOfShapes::count.

int KDL::_EatUntilEndOfComment	(	std::istream &	is,
		int *	countp = `NULL`
	)

Definition at line 54 of file utility_io.cxx.

References _check_istream(), and RobotExampleTrajectoryOutOfShapes::count.

Referenced by _EatSpace().

int KDL::_EatUntilEndOfLine	(	std::istream &	is,
		int *	countp = `NULL`
	)

Definition at line 40 of file utility_io.cxx.

References _check_istream(), and RobotExampleTrajectoryOutOfShapes::count.

Referenced by _EatSpace().

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::abs ( const Rall2d< T, V, S > & x ) [inline]

Definition at line 465 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, and KDL::Rall2d< T, V, S >::dd.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::abs ( const Rall1d< T, V, S > & x ) [inline]

Definition at line 409 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad.

double KDL::acos ( double a ) [inline]

Definition at line 113 of file utility.h.

References acos().

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::acos ( const Rall2d< T, V, S > & arg ) [inline]

Definition at line 429 of file rall2d.h.

References acos(), KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, sin(), sqr(), and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::acos ( const Rall1d< T, V, S > & x ) [inline]

void KDL::Add	(	const JntSpaceInertiaMatrix &	src1,
		const JntSpaceInertiaMatrix &	src2,
		JntSpaceInertiaMatrix &	dest
	)

Definition at line 81 of file jntspaceinertiamatrix.cpp.

References KDL::JntSpaceInertiaMatrix::data.

void KDL::Add	(	const JntArrayVel &	src1,
		const JntArray &	src2,
		JntArrayVel &	dest
	)

Definition at line 62 of file jntarrayvel.cpp.

References Add(), KDL::JntArrayVel::q, and KDL::JntArrayVel::qdot.

void KDL::Add	(	const JntArrayVel &	src1,
		const JntArrayVel &	src2,
		JntArrayVel &	dest
	)

Definition at line 57 of file jntarrayvel.cpp.

References Add(), KDL::JntArrayVel::q, and KDL::JntArrayVel::qdot.

void KDL::Add	(	const JntArrayAcc &	src1,
		const JntArray &	src2,
		JntArrayAcc &	dest
	)

Definition at line 78 of file jntarrayacc.cpp.

References Add(), KDL::JntArrayAcc::q, KDL::JntArrayAcc::qdot, and KDL::JntArrayAcc::qdotdot.

void KDL::Add	(	const JntArrayAcc &	src1,
		const JntArrayVel &	src2,
		JntArrayAcc &	dest
	)

Definition at line 72 of file jntarrayacc.cpp.

References Add(), KDL::JntArrayVel::q, KDL::JntArrayAcc::q, KDL::JntArrayVel::qdot, KDL::JntArrayAcc::qdot, and KDL::JntArrayAcc::qdotdot.

void KDL::Add	(	const JntArrayAcc &	src1,
		const JntArrayAcc &	src2,
		JntArrayAcc &	dest
	)

Definition at line 66 of file jntarrayacc.cpp.

References Add(), KDL::JntArrayAcc::q, KDL::JntArrayAcc::qdot, and KDL::JntArrayAcc::qdotdot.

void KDL::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.

This function is aliasing-safe, A or B can be the same array as C.

Parameters:

	src1	A
	src2	B
	dest	C

Referenced by Add(), KDL::TreeIkSolverPos_NR_JL::CartToJnt(), KDL::ChainIkSolverPos_NR_JL::CartToJnt(), KDL::ChainIkSolverPos_NR::CartToJnt(), Divide(), Part::TopoShape::getBoundBox(), Fem::FemMesh::getBoundBox(), Part::PropertyPartShape::getBoundingBox(), Drawing::ProjectionAlgos::invertY(), PartDesign::SketchBased::isInside(), PartDesign::Face::makeFace(), Multiply(), PartDesign::Wire_Compare::operator()(), PartGui::ViewProviderPartBase::updateData(), and PartGui::ViewProviderPartExt::updateVisual().

double KDL::addDelta	(	double	a,
		double	da,
		double	dt
	)			`[inline]`

Definition at line 282 of file utility.h.

FrameVel KDL::addDelta	(	const FrameVel &	a,
		const TwistVel &	da,
		double	dt = `1.0`
	)			`[inline]`

Definition at line 328 of file framevel.hpp.

References addDelta(), KDL::FrameVel::M, KDL::FrameVel::p, KDL::TwistVel::rot, and KDL::TwistVel::vel.

RotationVel KDL::addDelta	(	const RotationVel &	a,
		const VectorVel &	da,
		double	dt = `1.0`
	)			`[inline]`

Definition at line 320 of file framevel.hpp.

References addDelta(), KDL::VectorVel::p, KDL::RotationVel::R, KDL::VectorVel::v, and KDL::RotationVel::w.

VectorVel KDL::addDelta	(	const VectorVel &	a,
		const VectorVel &	da,
		double	dt = `1.0`
	)			`[inline]`

Definition at line 313 of file framevel.hpp.

References addDelta(), KDL::VectorVel::p, and KDL::VectorVel::v.

doubleVel KDL::addDelta	(	const doubleVel &	a,
		const doubleVel &	da,
		double	dt = `1.0`
	)			`[inline]`

Definition at line 42 of file framevel.hpp.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

Wrench KDL::addDelta	(	const Wrench &	a,
		const Wrench &	da,
		double	dt = `1`
	)			`[inline]`

Definition at line 1192 of file frames.inl.

References addDelta(), KDL::Wrench::force, and KDL::Wrench::torque.

Twist KDL::addDelta	(	const Twist &	a,
		const Twist &	da,
		double	dt = `1`
	)			`[inline]`

Definition at line 1189 of file frames.inl.

References addDelta(), KDL::Twist::rot, and KDL::Twist::vel.

Frame KDL::addDelta	(	const Frame &	a,
		const Twist &	da,
		double	dt = `1`
	)			`[inline]`

Definition at line 1183 of file frames.inl.

References addDelta(), KDL::Frame::M, KDL::Frame::p, KDL::Twist::rot, and KDL::Twist::vel.

Rotation KDL::addDelta	(	const Rotation &	a,
		const Vector &	da,
		double	dt = `1`
	)			`[inline]`

Definition at line 1180 of file frames.inl.

References KDL::Rotation::Inverse(), and Rot().

Vector KDL::addDelta	(	const Vector &	a,
		const Vector &	da,
		double	dt = `1`
	)			`[inline]`

Definition at line 1176 of file frames.inl.

Referenced by addDelta().

double KDL::asin ( double a ) [inline]

Definition at line 116 of file utility.h.

References asin().

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::asin ( const Rall2d< T, V, S > & arg ) [inline]

Definition at line 417 of file rall2d.h.

References asin(), cos(), KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, sqr(), and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::asin ( const Rall1d< T, V, S > & x ) [inline]

Definition at line 393 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, sqr(), sqrt(), and KDL::Rall1d< T, V, S >::t.

Referenced by Wm4::Math< Real >::ASin(), asin(), Base::Rotation::getYawPitchRoll(), Wm4::Matrix3< Real >::ToEulerAnglesXYZ(), Wm4::Matrix3< Real >::ToEulerAnglesXZY(), Wm4::Matrix3< Real >::ToEulerAnglesYXZ(), Wm4::Matrix3< Real >::ToEulerAnglesYZX(), Wm4::Matrix3< Real >::ToEulerAnglesZXY(), Wm4::Matrix3< Real >::ToEulerAnglesZYX(), and yyparse().

double KDL::atan ( double a ) [inline]

Definition at line 110 of file utility.h.

References atan().

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::atan ( const Rall2d< T, V, S > & x ) [inline]

Definition at line 442 of file rall2d.h.

References atan(), KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, sqr(), and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::atan ( const Rall1d< T, V, S > & x ) [inline]

Definition at line 377 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, sqr(), and KDL::Rall1d< T, V, S >::t.

Referenced by Wm4::Math< Real >::ATan(), atan(), Gui::NavigationStyle::boxZoom(), and yyparse().

double KDL::atan2	(	double	a,
		double	b
	)			`[inline]`

Definition at line 125 of file utility.h.

References atan2().

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::atan2	(	const Rall2d< T, V, S > &	y,
		const Rall2d< T, V, S > &	x
	)			`[inline]`

Definition at line 454 of file rall2d.h.

References atan2(), KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, sqr(), and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::atan2	(	const Rall1d< T, V, S > &	y,
		const Rall1d< T, V, S > &	x
	)			`[inline]`

bool KDL::changeBase	(	const Jacobian &	src1,
		const Rotation &	rot,
		Jacobian &	dest
	)

Referenced by KDL::TreeJntToJacSolver::JntToJac().

bool KDL::changeRefFrame	(	const Jacobian &	src1,
		const Frame &	frame,
		Jacobian &	dest
	)

bool KDL::changeRefPoint	(	const Jacobian &	src1,
		const Vector &	base_AB,
		Jacobian &	dest
	)

Referenced by KDL::ChainJntToJacSolver::JntToJac().

double KDL::cos ( double a ) [inline]

Definition at line 89 of file utility.h.

References cos().

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::cos ( const Rall2d< T, V, S > & arg ) [inline]

Definition at line 346 of file rall2d.h.

References cos(), KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, sin(), KDL::Rall2d< T, V, S >::t, and draftlibs::fcgeo::v1().

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::cos ( const Rall1d< T, V, S > & arg ) [inline]

Definition at line 321 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, sin(), and KDL::Rall1d< T, V, S >::t.

Referenced by KDL::Path_Circle::Acc(), asin(), Build_Rotate_Quaternion(), cutting_tools::calculateAccurateSlaveZLevel(), Wm4::Math< Real >::Cos(), cos(), KDL::Frame::DH(), KDL::Frame::DH_Craig1989(), KDL::Rotation::DoRotX(), KDL::Rotation::DoRotY(), KDL::Rotation::DoRotZ(), SketcherGui::ViewProviderSketch::draw(), GCS::ConstraintL2LAngle::error(), GCS::ConstraintP2PAngle::error(), KDL::Rotation::EulerZYZ(), fit_iter(), GCS::ConstraintL2LAngle::grad(), GCS::ConstraintP2PAngle::grad(), DrawSketchHandlerCircle::mouseMove(), DrawSketchHandlerArc::mouseMove(), SketcherGui::ViewProviderSketch::moveConstraint(), Approximate::ParameterInnerPoints(), KDL::Path_Circle::Pos(), SpringbackCorrection::RegionEvaluate(), Rot(), KDL::Rotation2::Rot(), KDL::Rotation::Rot2(), Base::Vector3< _Precision >::RotateX(), Base::Vector3< _Precision >::RotateY(), Base::Vector3< _Precision >::RotateZ(), Base::Matrix4D::rotLine(), Base::Matrix4D::rotX(), KDL::Rotation::RotX(), Base::Matrix4D::rotY(), KDL::Rotation::RotY(), Base::Matrix4D::rotZ(), KDL::Rotation::RotZ(), KDL::Rotation::RPY(), KDL::Rotation2::SetRot(), Base::Rotation::setValue(), Base::Rotation::setYawPitchRoll(), sin(), svd_eigen_Macie(), tan(), KDL::Path_Circle::Vel(), and yyparse().

double KDL::cosh ( double a ) [inline]

Definition at line 101 of file utility.h.

References cosh().

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::cosh ( const Rall2d< T, V, S > & arg ) [inline]

Definition at line 370 of file rall2d.h.

References cosh(), KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, sinh(), KDL::Rall2d< T, V, S >::t, and draftlibs::fcgeo::v1().

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::cosh ( const Rall1d< T, V, S > & arg ) [inline]

Definition at line 345 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, sinh(), and KDL::Rall1d< T, V, S >::t.

Referenced by cosh(), sinh(), and tanh().

double KDL::diff	(	double	a,
		double	b,
		double	dt
	)			`[inline]`

Definition at line 276 of file utility.h.

TwistVel KDL::diff	(	const FrameVel &	a,
		const FrameVel &	b,
		double	dt = `1.0`
	)			`[inline]`

Definition at line 324 of file framevel.hpp.

References diff(), KDL::FrameVel::M, and KDL::FrameVel::p.

VectorVel KDL::diff	(	const RotationVel &	a,
		const RotationVel &	b,
		double	dt = `1.0`
	)			`[inline]`

Definition at line 316 of file framevel.hpp.

References diff(), KDL::RotationVel::R, and KDL::RotationVel::w.

VectorVel KDL::diff	(	const VectorVel &	a,
		const VectorVel &	b,
		double	dt = `1.0`
	)			`[inline]`

Definition at line 309 of file framevel.hpp.

References diff(), KDL::VectorVel::p, and KDL::VectorVel::v.

doubleVel KDL::diff	(	const doubleVel &	a,
		const doubleVel &	b,
		double	dt = `1.0`
	)			`[inline]`

Definition at line 38 of file framevel.hpp.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

Wrench KDL::diff	(	const Wrench &	W_a_p1,
		const Wrench &	W_a_p2,
		double	dt = `1`
	)			`[inline]`

Definition at line 1168 of file frames.inl.

References diff(), KDL::Wrench::force, and KDL::Wrench::torque.

Twist KDL::diff	(	const Twist &	a,
		const Twist &	b,
		double	dt = `1`
	)			`[inline]`

Definition at line 1164 of file frames.inl.

References diff(), KDL::Twist::rot, and KDL::Twist::vel.

Twist KDL::diff	(	const Frame &	F_a_b1,
		const Frame &	F_a_b2,
		double	dt = `1`
	)			`[inline]`

Definition at line 1158 of file frames.inl.

References diff(), KDL::Frame::M, and KDL::Frame::p.

Vector KDL::diff	(	const Rotation &	R_a_b1,
		const Rotation &	R_a_b2,
		double	dt
	)			`[inline]`

diff operator for displacement rotational velocity.

The Vector arguments here represent a displacement rotational velocity. i.e. a rotation around a fixed axis for a certain angle. For this representation you cannot use diff() but have to use diff_displ().

Todo:: represent a displacement twist and displacement rotational velocity with another class, instead of Vector and Twist.

Warning:: do not confuse displacement rotational velocities and velocities; do not confuse displacement twist and twist.

IMETHOD Vector diff_displ(const Vector& a,const Vector& b,double dt) { return diff(Rot(a),Rot(b),dt); } diff operator for displacement twist.

The Twist arguments here represent a displacement twist. i.e. a rotation around a fixed axis for a certain angle. For this representation you cannot use diff() but have to use diff_displ().

Warning:: do not confuse displacement rotational velocities and velocities; do not confuse displacement twist and twist.

IMETHOD Twist diff_displ(const Twist& a,const Twist& b,double dt) { return Twist(diff(a.vel,b.vel,dt),diff(Rot(a.rot),Rot(b.rot),dt)); }

Definition at line 1154 of file frames.inl.

References KDL::Rotation::GetRot(), and KDL::Rotation::Inverse().

Vector KDL::diff	(	const Vector &	a,
		const Vector &	b,
		double	dt = `1`
	)			`[inline]`

Definition at line 1118 of file frames.inl.

Referenced by StdCmdToggleVisibility::activated(), Sketcher::Sketch::addDistanceXConstraint(), Sketcher::Sketch::addDistanceYConstraint(), annDist(), KDL::TreeIkSolverPos_NR_JL::CartToJnt(), KDL::ChainIkSolverPos_NR_JL::CartToJnt(), KDL::ChainIkSolverPos_NR::CartToJnt(), diff(), App::PropertyData::findProperty(), MeshCore::MeshEvalOrientation::GetIndices(), isect2(), Gui::RecentFilesAction::resizeList(), Gui::DocumentItem::selectItems(), KDL::VelocityProfile_Rectangular::SetProfile(), and KDL::VelocityProfile_Rectangular::SetProfileDuration().

void KDL::Divide	(	const JntSpaceInertiaMatrix &	src,
		const double &	factor,
		JntSpaceInertiaMatrix &	dest
	)

Definition at line 96 of file jntspaceinertiamatrix.cpp.

References KDL::JntSpaceInertiaMatrix::data.

void KDL::Divide	(	const JntArrayVel &	src,
		const doubleVel &	factor,
		JntArrayVel &	dest
	)

Definition at line 97 of file jntarrayvel.cpp.

References Divide(), KDL::Rall1d< T, V, S >::grad, Multiply(), KDL::JntArrayVel::q, KDL::JntArrayVel::qdot, Subtract(), and KDL::Rall1d< T, V, S >::t.

void KDL::Divide	(	const JntArrayVel &	src,
		const double &	factor,
		JntArrayVel &	dest
	)

Definition at line 92 of file jntarrayvel.cpp.

References Divide(), KDL::JntArrayVel::q, and KDL::JntArrayVel::qdot.

void KDL::Divide	(	const JntArrayAcc &	src,
		const doubleAcc &	factor,
		JntArrayAcc &	dest
	)

Definition at line 151 of file jntarrayacc.cpp.

References Add(), KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, Divide(), Multiply(), KDL::JntArrayAcc::q, KDL::JntArrayAcc::qdot, KDL::JntArrayAcc::qdotdot, Subtract(), and KDL::Rall2d< T, V, S >::t.

void KDL::Divide	(	const JntArrayAcc &	src,
		const doubleVel &	factor,
		JntArrayAcc &	dest
	)

Definition at line 139 of file jntarrayacc.cpp.

References Add(), Divide(), KDL::Rall1d< T, V, S >::grad, Multiply(), KDL::JntArrayAcc::q, KDL::JntArrayAcc::qdot, KDL::JntArrayAcc::qdotdot, Subtract(), and KDL::Rall1d< T, V, S >::t.

void KDL::Divide	(	const JntArrayAcc &	src,
		const double &	factor,
		JntArrayAcc &	dest
	)

Definition at line 133 of file jntarrayacc.cpp.

References Divide(), KDL::JntArrayAcc::q, KDL::JntArrayAcc::qdot, and KDL::JntArrayAcc::qdotdot.

void KDL::Divide	(	const JntArray &	src,
		const double &	factor,
		JntArray &	dest
	)

Function to divide all the array values with a scalar factor: A/b=C.

This function is aliasing-safe, A can be the same array as C.

Parameters:

	src	A
	factor	b
	dest	C

Referenced by Divide().

doubleVel KDL::dot	(	const Vector &	lhs,
		const VectorVel &	rhs
	)			`[inline]`

Definition at line 364 of file framevel.inl.

References dot(), KDL::VectorVel::p, and KDL::VectorVel::v.

doubleVel KDL::dot	(	const VectorVel &	lhs,
		const Vector &	rhs
	)			`[inline]`

Definition at line 361 of file framevel.inl.

References dot(), KDL::VectorVel::p, and KDL::VectorVel::v.

doubleVel KDL::dot	(	const VectorVel &	lhs,
		const VectorVel &	rhs
	)			`[inline]`

Definition at line 358 of file framevel.inl.

References dot(), KDL::VectorVel::p, and KDL::VectorVel::v.

double KDL::dot	(	const Wrench &	rhs,
		const Twist &	lhs
	)			`[inline]`

Definition at line 1008 of file frames.inl.

References dot(), KDL::Wrench::force, KDL::Twist::rot, KDL::Wrench::torque, and KDL::Twist::vel.

double KDL::dot	(	const Twist &	lhs,
		const Wrench &	rhs
	)			`[inline]`

Definition at line 1004 of file frames.inl.

References dot(), KDL::Wrench::force, KDL::Twist::rot, KDL::Wrench::torque, and KDL::Twist::vel.

double KDL::dot	(	const Vector &	lhs,
		const Vector &	rhs
	)			`[inline]`

Definition at line 1000 of file frames.inl.

doubleAcc KDL::dot	(	const Vector &	lhs,
		const VectorAcc &	rhs
	)

Definition at line 152 of file frameacc.inl.

References dot(), KDL::VectorAcc::dv, KDL::VectorAcc::p, and KDL::VectorAcc::v.

doubleAcc KDL::dot	(	const VectorAcc &	lhs,
		const Vector &	rhs
	)

Definition at line 145 of file frameacc.inl.

References dot(), KDL::VectorAcc::dv, KDL::VectorAcc::p, and KDL::VectorAcc::v.

doubleAcc KDL::dot	(	const VectorAcc &	lhs,
		const VectorAcc &	rhs
	)

Definition at line 138 of file frameacc.inl.

References KDL::VectorAcc::dv, KDL::VectorAcc::p, and KDL::VectorAcc::v.

Referenced by KDL::Path_RoundedComposite::Add(), KDL::ChainIdSolver_RNE::CartToJnt(), dot(), and KDL::ChainDynParam::JntToMass().

void KDL::Eat	(	std::istream &	is,
		const char *	descript
	)

Eats characters of the stream as long as they satisfy the description in descript.

Parameters:

	is	a stream
	descript	description string. A sequence of spaces, tabs, new-lines and comments is regarded as 1 space in the description string.

void KDL::Eat	(	std::istream &	is,
		int	delim
	)

Eats characters of the stream until the character delim is encountered.

Parameters:

	is	a stream
	delim	eat until this character is encountered

Referenced by KDL::VelocityProfile::Read(), KDL::Trajectory::Read(), KDL::RotationalInterpolation::Read(), and KDL::Path::Read().

void KDL::EatEnd	(	std::istream &	is,
		int	delim
	)

Eats characters of the stream until the character delim is encountered similar to Eat(is,delim) but spaces at the end are not read.

Parameters:

	is	a stream
	delim	eat until this character is encountered

Referenced by KDL::Trajectory::Read(), KDL::RotationalInterpolation::Read(), and KDL::Path::Read().

void KDL::EatWord	(	std::istream &	is,
		const char *	delim,
		char *	storage,
		int	maxsize
	)

Eats a word of the stream delimited by the letters in delim or space(tabs.

..)

Parameters:

	is	a stream
	delim	a string containing the delimmiting characters
	storage	for returning the word
	maxsize	a word can be maximally maxsize-1 long.

Referenced by KDL::VelocityProfile::Read(), KDL::Trajectory::Read(), KDL::RotationalInterpolation::Read(), and KDL::Path::Read().

bool KDL::Equal	(	double	a,
		double	b,
		double	eps = `epsilon`
	)			`[inline]`

Definition at line 262 of file utility.h.

References eps.

template<class T , class V , class S >

INLINE bool KDL::Equal	(	const Rall2d< T, V, S > &	y,
		const Rall2d< T, V, S > &	x,
		double	eps = `epsilon`
	)			`[inline]`

Definition at line 526 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, eps, Equal(), and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE bool KDL::Equal	(	const Rall1d< T, V, S > &	y,
		const Rall1d< T, V, S > &	x,
		double	eps = `epsilon`
	)			`[inline]`

Definition at line 469 of file rall1d.h.

References eps, Equal(), KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

bool KDL::Equal	(	const JntSpaceInertiaMatrix &	src1,
		const JntSpaceInertiaMatrix &	src2,
		double	eps
	)

Definition at line 111 of file jntspaceinertiamatrix.cpp.

References KDL::JntSpaceInertiaMatrix::columns(), KDL::JntSpaceInertiaMatrix::data, and KDL::JntSpaceInertiaMatrix::rows().

bool KDL::Equal	(	const JntArrayVel &	src1,
		const JntArrayVel &	src2,
		double	eps
	)

Definition at line 111 of file jntarrayvel.cpp.

References Equal(), KDL::JntArrayVel::q, and KDL::JntArrayVel::qdot.

bool KDL::Equal	(	const JntArrayAcc &	src1,
		const JntArrayAcc &	src2,
		double	eps
	)

Definition at line 171 of file jntarrayacc.cpp.

References Equal(), KDL::JntArrayAcc::q, KDL::JntArrayAcc::qdot, and KDL::JntArrayAcc::qdotdot.

bool KDL::Equal	(	const JntArray &	src1,
		const JntArray &	src2,
		double	eps = `epsilon`
	)

Function to check if two arrays are the same with a precision of eps.

Parameters:

	src1
	src2
	eps	default: epsilon

Returns:: true if each element of src1 is within eps of the same element in src2, or if both src1 and src2 have no data (ie 0==rows())

bool KDL::Equal	(	const Jacobian &	a,
		const Jacobian &	b,
		double	eps
	)

Definition at line 137 of file jacobian.cpp.

References KDL::Jacobian::columns(), KDL::Jacobian::data, and KDL::Jacobian::rows().

bool KDL::Equal	(	const TwistVel &	a,
		const Twist &	b,
		double	eps
	)

Definition at line 351 of file framevel.inl.

References Equal(), KDL::Twist::rot, KDL::TwistVel::rot, KDL::Twist::vel, and KDL::TwistVel::vel.

bool KDL::Equal	(	const Twist &	a,
		const TwistVel &	b,
		double	eps
	)

Definition at line 347 of file framevel.inl.

References Equal(), KDL::TwistVel::rot, KDL::Twist::rot, KDL::TwistVel::vel, and KDL::Twist::vel.

bool KDL::Equal	(	const TwistVel &	a,
		const TwistVel &	b,
		double	eps
	)

Definition at line 343 of file framevel.inl.

References Equal(), KDL::TwistVel::rot, and KDL::TwistVel::vel.

bool KDL::Equal	(	const RotationVel &	r1,
		const Rotation &	r2,
		double	eps
	)

Definition at line 340 of file framevel.inl.

References Equal(), KDL::RotationVel::R, KDL::RotationVel::w, and KDL::Vector::Zero().

bool KDL::Equal	(	const Rotation &	r1,
		const RotationVel &	r2,
		double	eps
	)

Definition at line 337 of file framevel.inl.

References Equal(), KDL::RotationVel::R, KDL::RotationVel::w, and KDL::Vector::Zero().

bool KDL::Equal	(	const RotationVel &	r1,
		const RotationVel &	r2,
		double	eps
	)

Definition at line 334 of file framevel.inl.

References Equal(), KDL::RotationVel::R, and KDL::RotationVel::w.

bool KDL::Equal	(	const VectorVel &	r1,
		const Vector &	r2,
		double	eps
	)

Definition at line 330 of file framevel.inl.

References Equal(), KDL::VectorVel::p, KDL::VectorVel::v, and KDL::Vector::Zero().

bool KDL::Equal	(	const Vector &	r1,
		const VectorVel &	r2,
		double	eps
	)

Definition at line 327 of file framevel.inl.

References Equal(), KDL::VectorVel::p, KDL::VectorVel::v, and KDL::Vector::Zero().

bool KDL::Equal	(	const VectorVel &	r1,
		const VectorVel &	r2,
		double	eps
	)

Definition at line 324 of file framevel.inl.

References Equal(), KDL::VectorVel::p, and KDL::VectorVel::v.

bool KDL::Equal	(	const FrameVel &	r1,
		const Frame &	r2,
		double	eps
	)

Definition at line 82 of file framevel.inl.

References Equal(), KDL::Frame::M, KDL::FrameVel::M, KDL::Frame::p, and KDL::FrameVel::p.

bool KDL::Equal	(	const Frame &	r1,
		const FrameVel &	r2,
		double	eps
	)

Definition at line 79 of file framevel.inl.

References Equal(), KDL::FrameVel::M, KDL::Frame::M, KDL::FrameVel::p, and KDL::Frame::p.

bool KDL::Equal	(	const FrameVel &	r1,
		const FrameVel &	r2,
		double	eps
	)

Definition at line 76 of file framevel.inl.

References Equal(), KDL::FrameVel::M, and KDL::FrameVel::p.

bool KDL::Equal	(	const Frame2 &	a,
		const Frame2 &	b,
		double	eps
	)			`[inline]`

Definition at line 1051 of file frames.inl.

References Equal(), KDL::Frame2::M, and KDL::Frame2::p.

bool KDL::Equal	(	const Rotation2 &	a,
		const Rotation2 &	b,
		double	eps
	)			`[inline]`

Definition at line 1047 of file frames.inl.

References Equal().

bool KDL::Equal	(	const Vector2 &	a,
		const Vector2 &	b,
		double	eps
	)			`[inline]`

Definition at line 1042 of file frames.inl.

References Equal().

bool KDL::Equal	(	const Twist &	a,
		const Twist &	b,
		double	eps
	)			`[inline]`

Definition at line 1037 of file frames.inl.

References Equal(), KDL::Twist::rot, and KDL::Twist::vel.

bool KDL::Equal	(	const Wrench &	a,
		const Wrench &	b,
		double	eps
	)			`[inline]`

Definition at line 1032 of file frames.inl.

References Equal(), KDL::Wrench::force, and KDL::Wrench::torque.

bool KDL::Equal	(	const Frame &	a,
		const Frame &	b,
		double	eps
	)			`[inline]`

Definition at line 1027 of file frames.inl.

References Equal(), KDL::Frame::M, and KDL::Frame::p.

bool KDL::Equal	(	const Vector &	a,
		const Vector &	b,
		double	eps
	)			`[inline]`

Definition at line 1020 of file frames.inl.

References KDL::Vector::data, and Equal().

bool KDL::Equal	(	const Rotation &	a,
		const Rotation &	b,
		double	eps
	)

Definition at line 150 of file frames.cpp.

References KDL::Rotation::data, and Equal().

bool KDL::Equal	(	const TwistAcc &	a,
		const Twist &	b,
		double	eps
	)

Definition at line 594 of file frameacc.inl.

References Equal(), KDL::Twist::rot, KDL::TwistAcc::rot, KDL::Twist::vel, and KDL::TwistAcc::vel.

bool KDL::Equal	(	const Twist &	a,
		const TwistAcc &	b,
		double	eps
	)

Definition at line 590 of file frameacc.inl.

References Equal(), KDL::TwistAcc::rot, KDL::Twist::rot, KDL::TwistAcc::vel, and KDL::Twist::vel.

bool KDL::Equal	(	const TwistAcc &	a,
		const TwistAcc &	b,
		double	eps
	)

Definition at line 586 of file frameacc.inl.

References Equal(), KDL::TwistAcc::rot, and KDL::TwistAcc::vel.

bool KDL::Equal	(	const FrameAcc &	r1,
		const Frame &	r2,
		double	eps
	)

Definition at line 400 of file frameacc.inl.

References Equal(), KDL::Frame::M, KDL::FrameAcc::M, KDL::Frame::p, and KDL::FrameAcc::p.

bool KDL::Equal	(	const Frame &	r1,
		const FrameAcc &	r2,
		double	eps
	)

Definition at line 397 of file frameacc.inl.

References Equal(), KDL::FrameAcc::M, KDL::Frame::M, KDL::FrameAcc::p, and KDL::Frame::p.

bool KDL::Equal	(	const FrameAcc &	r1,
		const FrameAcc &	r2,
		double	eps
	)

Definition at line 394 of file frameacc.inl.

References Equal(), KDL::FrameAcc::M, and KDL::FrameAcc::p.

bool KDL::Equal	(	const RotationAcc &	r1,
		const Rotation &	r2,
		double	eps
	)

Definition at line 331 of file frameacc.inl.

References KDL::RotationAcc::dw, Equal(), KDL::RotationAcc::R, KDL::RotationAcc::w, and KDL::Vector::Zero().

bool KDL::Equal	(	const Rotation &	r1,
		const RotationAcc &	r2,
		double	eps
	)

Definition at line 327 of file frameacc.inl.

References KDL::RotationAcc::dw, Equal(), KDL::RotationAcc::R, KDL::RotationAcc::w, and KDL::Vector::Zero().

bool KDL::Equal	(	const RotationAcc &	r1,
		const RotationAcc &	r2,
		double	eps
	)

Definition at line 324 of file frameacc.inl.

References KDL::RotationAcc::dw, Equal(), KDL::RotationAcc::R, and KDL::RotationAcc::w.

bool KDL::Equal	(	const VectorAcc &	r1,
		const Vector &	r2,
		double	eps
	)

Definition at line 174 of file frameacc.inl.

References KDL::VectorAcc::dv, Equal(), KDL::VectorAcc::p, KDL::VectorAcc::v, and KDL::Vector::Zero().

bool KDL::Equal	(	const Vector &	r1,
		const VectorAcc &	r2,
		double	eps
	)

Definition at line 167 of file frameacc.inl.

References KDL::VectorAcc::dv, Equal(), KDL::VectorAcc::p, KDL::VectorAcc::v, and KDL::Vector::Zero().

bool KDL::Equal	(	const VectorAcc &	r1,
		const VectorAcc &	r2,
		double	eps
	)

Definition at line 160 of file frameacc.inl.

References KDL::VectorAcc::dv, KDL::VectorAcc::p, and KDL::VectorAcc::v.

Referenced by KDL::ChainIkSolverPos_NR_JL::CartToJnt(), KDL::ChainIkSolverPos_NR::CartToJnt(), Equal(), and operator==().

double KDL::exp ( double a ) [inline]

Definition at line 92 of file utility.h.

References exp().

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::exp ( const Rall2d< T, V, S > & arg ) [inline]

Definition at line 318 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, exp(), and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::exp ( const Rall1d< T, V, S > & arg ) [inline]

Definition at line 297 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

Referenced by PartGui::ViewProvider2DObject::createGrid(), SketcherGui::ViewProviderSketch::draw(), Wm4::Math< Real >::Exp(), exp(), yyparse(), and Gui::NavigationStyle::zoom().

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::hypot	(	const Rall2d< T, V, S > &	y,
		const Rall2d< T, V, S > &	x
	)			`[inline]`

Definition at line 472 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, hypot(), sqr(), and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::hypot	(	const Rall1d< T, V, S > &	y,
		const Rall1d< T, V, S > &	x
	)			`[inline]`

Definition at line 385 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

Referenced by hypot().

void KDL::IOTrace ( const std::string & description )

Referenced by KDL::VelocityProfile::Read(), KDL::Trajectory::Read(), KDL::RotationalInterpolation::Read(), and KDL::Path::Read().

void KDL::IOTraceOutput ( std::ostream & os )

outputs the IO-stack to a stream to provide a better errormessage.

void KDL::IOTracePop ( )

pops a description of the IO-stack

Referenced by KDL::VelocityProfile::Read(), KDL::Trajectory::Read(), KDL::RotationalInterpolation::Read(), and KDL::Path::Read().

void KDL::IOTracePopStr	(	char *	buffer,
		int	size
	)

outputs one element of the IO-stack to the buffer (maximally size chars) returns empty string if no elements on the stack.

double KDL::LinComb	(	double	alfa,
		double	a,
		double	beta,
		double	b
	)			`[inline]`

Definition at line 225 of file utility.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::LinComb	(	S	alfa,
		const Rall2d< T, V, S > &	a,
		const T &	beta,
		const Rall2d< T, V, S > &	b
	)			`[inline]`

Definition at line 492 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, LinComb(), and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::LinComb	(	S	alfa,
		const Rall1d< T, V, S > &	a,
		const T &	beta,
		const Rall1d< T, V, S > &	b
	)			`[inline]`

Definition at line 439 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

Referenced by LinComb(), and KDL::Rall1d< T, V, S >::operator/=().

void KDL::LinCombR	(	double	alfa,
		double	a,
		double	beta,
		double	b,
		double &	result
	)			`[inline]`

Definition at line 230 of file utility.h.

template<class T , class V , class S >

INLINE void KDL::LinCombR	(	S	alfa,
		const Rall2d< T, V, S > &	a,
		const T &	beta,
		const Rall2d< T, V, S > &	b,
		Rall2d< T, V, S > &	result
	)			`[inline]`

Definition at line 502 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, LinCombR(), and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE void KDL::LinCombR	(	S	alfa,
		const Rall1d< T, V, S > &	a,
		const T &	beta,
		const Rall1d< T, V, S > &	b,
		Rall1d< T, V, S > &	result
	)			`[inline]`

Definition at line 448 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

Referenced by LinCombR(), and KDL::Rall1d< T, V, S >::operator*=().

double KDL::log ( double a ) [inline]

Definition at line 95 of file utility.h.

References log().

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::log ( const Rall2d< T, V, S > & arg ) [inline]

Definition at line 328 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, log(), and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::log ( const Rall1d< T, V, S > & arg ) [inline]

double KDL::max	(	double	a,
		double	b
	)			`[inline]`

Definition at line 198 of file utility.h.

Referenced by CmdSandboxDocThreadBusy::activated(), CmdSandboxDocThreadWithSeq::activated(), annSpread(), SketcherGui::SoDatumLabel::computeBBox(), path_simulate::ConnectPaths_Feat(), path_simulate::ConnectPaths_xy(), path_simulate::ConnectPaths_z(), SketcherGui::ViewProviderSketch::draw(), boost::numeric::bindings::lapack::geqrf(), MeshGui::SoFCMeshGridNode::GLRender(), boost::numeric::bindings::lapack::heev(), SpringbackCorrection::Init(), Gui::MainWindow::loadWindowSettings(), path_simulate::MakePathSingle(), Gui::SelectionFilter::match(), GCS::ConstraintP2LDistance::maxStep(), GCS::ConstraintP2PDistance::maxStep(), NoDivTriTriIsect(), boost::numeric::bindings::lapack::ormqr(), Sandbox::WorkerThread::run(), sl_fair_split(), sl_midpt_split(), GCS::System::solve(), boost::numeric::bindings::lapack::syev(), path_simulate::TimeCorrection(), tri_tri_intersect(), and tri_tri_intersect_with_isectline().

double KDL::min	(	double	a,
		double	b
	)			`[inline]`

Definition at line 206 of file utility.h.

void KDL::Multiply	(	const JntSpaceInertiaMatrix &	src,
		const JntArray &	vec,
		JntArray &	dest
	)

Definition at line 101 of file jntspaceinertiamatrix.cpp.

References KDL::JntSpaceInertiaMatrix::data, and KDL::JntArray::data.

void KDL::Multiply	(	const JntSpaceInertiaMatrix &	src,
		const double &	factor,
		JntSpaceInertiaMatrix &	dest
	)

Definition at line 91 of file jntspaceinertiamatrix.cpp.

References KDL::JntSpaceInertiaMatrix::data.

void KDL::Multiply	(	const JntArrayVel &	src,
		const doubleVel &	factor,
		JntArrayVel &	dest
	)

Definition at line 84 of file jntarrayvel.cpp.

References Add(), KDL::Rall1d< T, V, S >::grad, Multiply(), KDL::JntArrayVel::q, KDL::JntArrayVel::qdot, and KDL::Rall1d< T, V, S >::t.

void KDL::Multiply	(	const JntArrayVel &	src,
		const double &	factor,
		JntArrayVel &	dest
	)

Definition at line 79 of file jntarrayvel.cpp.

References Multiply(), KDL::JntArrayVel::q, and KDL::JntArrayVel::qdot.

void KDL::Multiply	(	const JntArrayAcc &	src,
		const doubleAcc &	factor,
		JntArrayAcc &	dest
	)

Definition at line 120 of file jntarrayacc.cpp.

References Add(), KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, Multiply(), KDL::JntArrayAcc::q, KDL::JntArrayAcc::qdot, KDL::JntArrayAcc::qdotdot, and KDL::Rall2d< T, V, S >::t.

void KDL::Multiply	(	const JntArrayAcc &	src,
		const doubleVel &	factor,
		JntArrayAcc &	dest
	)

Definition at line 110 of file jntarrayacc.cpp.

References Add(), KDL::Rall1d< T, V, S >::grad, Multiply(), KDL::JntArrayAcc::q, KDL::JntArrayAcc::qdot, KDL::JntArrayAcc::qdotdot, and KDL::Rall1d< T, V, S >::t.

void KDL::Multiply	(	const JntArrayAcc &	src,
		const double &	factor,
		JntArrayAcc &	dest
	)

Definition at line 104 of file jntarrayacc.cpp.

References Multiply(), KDL::JntArrayAcc::q, KDL::JntArrayAcc::qdot, and KDL::JntArrayAcc::qdotdot.

void KDL::Multiply	(	const JntArray &	src,
		const double &	factor,
		JntArray &	dest
	)

Function to multiply all the array values with a scalar factor: A*b=C.

This function is aliasing-safe, A can be the same array as C.

Parameters:

	src	A
	factor	b
	dest	C

Referenced by Divide(), and Multiply().

void KDL::MultiplyJacobian	(	const Jacobian &	jac,
		const JntArray &	src,
		Twist &	dest
	)

Function to multiply a KDL::Jacobian with a KDL::JntArray to get a KDL::Twist, it should not be used to calculate the forward velocity kinematics, the solver classes are built for this purpose.

J*q = t

Parameters:

	jac	J
	src	q
	dest	t

Postcondition:: dest==TwistZero() if 0==src.rows() (ie src is empty)

double KDL::Norm ( double arg ) [inline]

Definition at line 250 of file utility.h.

template<class T , class V , class S >

INLINE S KDL::Norm ( const Rall2d< T, V, S > & value ) [inline]

Definition at line 483 of file rall2d.h.

References Norm(), and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE S KDL::Norm ( const Rall1d< T, V, S > & value ) [inline]

Definition at line 418 of file rall1d.h.

References KDL::Rall1d< T, V, S >::t.

Referenced by MeshCore::MeshKernel::CalcVertexNormals(), and Norm().

bool KDL::operator!=	(	const Vector2 &	a,
		const Vector2 &	b
	)			`[inline]`

Definition at line 1360 of file frames.inl.

References operator==().

bool KDL::operator!=	(	const Rotation &	a,
		const Rotation &	b
	)			`[inline]`

Definition at line 1347 of file frames.inl.

References operator==().

bool KDL::operator!=	(	const Wrench &	a,
		const Wrench &	b
	)			`[inline]`

Definition at line 1344 of file frames.inl.

References operator==().

bool KDL::operator!=	(	const Twist &	a,
		const Twist &	b
	)			`[inline]`

Definition at line 1331 of file frames.inl.

References operator==().

bool KDL::operator!=	(	const Vector &	a,
		const Vector &	b
	)			`[inline]`

Definition at line 1318 of file frames.inl.

References operator==().

bool KDL::operator!=	(	const Frame &	a,
		const Frame &	b
	)			`[inline]`

Definition at line 1304 of file frames.inl.

References operator==().

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator*	(	const Rall2d< T, V, S > &	v,
		S	s
	)			`[inline]`

Definition at line 270 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator*	(	S	s,
		const Rall2d< T, V, S > &	v
	)			`[inline]`

Definition at line 264 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator*	(	const Rall2d< T, V, S > &	lhs,
		const Rall2d< T, V, S > &	rhs
	)			`[inline]`

Definition at line 236 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator*	(	const Rall1d< T, V, S > &	v,
		S	s
	)			`[inline]`

Definition at line 254 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator*	(	S	s,
		const Rall1d< T, V, S > &	v
	)			`[inline]`

Definition at line 248 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator*	(	const Rall1d< T, V, S > &	lhs,
		const Rall1d< T, V, S > &	rhs
	)			`[inline]`

Definition at line 223 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

Wrench KDL::operator*	(	const Stiffness &	s,
		const Twist &	t
	)			`[inline]`

Definition at line 81 of file stiffness.hpp.

References RobotExample::w.

RotationalInertia KDL::operator*	(	double	a,
		const RotationalInertia &	I
	)

Definition at line 50 of file rotationalinertia.cpp.

References KDL::RotationalInertia::data, and result.

RigidBodyInertia KDL::operator*	(	const Rotation &	M,
		const RigidBodyInertia &	I
	)

Definition at line 74 of file rigidbodyinertia.cpp.

References KDL::RotationalInertia::data, KDL::Rotation::data, and mhi.

RigidBodyInertia KDL::operator*	(	const Frame &	T,
		const RigidBodyInertia &	I
	)

Definition at line 56 of file rigidbodyinertia.cpp.

References KDL::RotationalInertia::data, KDL::Rotation::data, KDL::Vector::data, KDL::Frame::Inverse(), KDL::Frame::M, mhi, and KDL::Frame::p.

Wrench KDL::operator*	(	const RigidBodyInertia &	I,
		const Twist &	t
	)

Definition at line 52 of file rigidbodyinertia.cpp.

References KDL::Twist::rot, and KDL::Twist::vel.

RigidBodyInertia KDL::operator*	(	double	a,
		const RigidBodyInertia &	I
	)

Definition at line 44 of file rigidbodyinertia.cpp.

References mhi.

TwistVel KDL::operator*	(	const doubleVel &	lhs,
		const TwistVel &	rhs
	)

Definition at line 437 of file framevel.inl.

References KDL::TwistVel::rot, and KDL::TwistVel::vel.

TwistVel KDL::operator*	(	const TwistVel &	lhs,
		const doubleVel &	rhs
	)

Definition at line 432 of file framevel.inl.

References KDL::TwistVel::rot, and KDL::TwistVel::vel.

TwistVel KDL::operator*	(	double	lhs,
		const TwistVel &	rhs
	)

Definition at line 421 of file framevel.inl.

References KDL::TwistVel::rot, and KDL::TwistVel::vel.

TwistVel KDL::operator*	(	const TwistVel &	lhs,
		double	rhs
	)

Definition at line 416 of file framevel.inl.

References KDL::TwistVel::rot, and KDL::TwistVel::vel.

VectorVel KDL::operator*	(	const Rotation &	R,
		const VectorVel &	x
	)

Definition at line 287 of file framevel.inl.

References KDL::VectorVel::p, and KDL::VectorVel::v.

VectorVel KDL::operator*	(	const VectorVel &	r2,
		const doubleVel &	r1
	)

Definition at line 275 of file framevel.inl.

References KDL::Rall1d< T, V, S >::grad, KDL::VectorVel::p, KDL::Rall1d< T, V, S >::t, and KDL::VectorVel::v.

VectorVel KDL::operator*	(	const doubleVel &	r1,
		const VectorVel &	r2
	)

Definition at line 271 of file framevel.inl.

References KDL::Rall1d< T, V, S >::grad, KDL::VectorVel::p, KDL::Rall1d< T, V, S >::t, and KDL::VectorVel::v.

VectorVel KDL::operator*	(	const VectorVel &	r1,
		double	r2
	)

Definition at line 265 of file framevel.inl.

References KDL::VectorVel::p, and KDL::VectorVel::v.

VectorVel KDL::operator*	(	double	r1,
		const VectorVel &	r2
	)

Definition at line 261 of file framevel.inl.

References KDL::VectorVel::p, and KDL::VectorVel::v.

VectorVel KDL::operator*	(	const Vector &	r1,
		const VectorVel &	r2
	)

Definition at line 254 of file framevel.inl.

References KDL::VectorVel::p, and KDL::VectorVel::v.

VectorVel KDL::operator*	(	const VectorVel &	r1,
		const Vector &	r2
	)

Definition at line 250 of file framevel.inl.

References KDL::VectorVel::p, and KDL::VectorVel::v.

VectorVel KDL::operator*	(	const VectorVel &	r1,
		const VectorVel &	r2
	)

Definition at line 246 of file framevel.inl.

References KDL::VectorVel::p, and KDL::VectorVel::v.

RotationVel KDL::operator*	(	const RotationVel &	r1,
		const Rotation &	r2
	)

Definition at line 103 of file framevel.inl.

References KDL::RotationVel::R, and KDL::RotationVel::w.

RotationVel KDL::operator*	(	const Rotation &	r1,
		const RotationVel &	r2
	)

Definition at line 99 of file framevel.inl.

References KDL::RotationVel::R, and KDL::RotationVel::w.

RotationVel KDL::operator*	(	const RotationVel &	r1,
		const RotationVel &	r2
	)

Definition at line 95 of file framevel.inl.

References KDL::RotationVel::R, and KDL::RotationVel::w.

FrameVel KDL::operator*	(	const Frame &	lhs,
		const FrameVel &	rhs
	)

Definition at line 42 of file framevel.inl.

References KDL::FrameVel::M, KDL::Frame::M, KDL::Frame::p, and KDL::FrameVel::p.

FrameVel KDL::operator*	(	const FrameVel &	lhs,
		const Frame &	rhs
	)

Definition at line 38 of file framevel.inl.

References KDL::Frame::M, KDL::FrameVel::M, KDL::FrameVel::p, and KDL::Frame::p.

FrameVel KDL::operator*	(	const FrameVel &	lhs,
		const FrameVel &	rhs
	)

Definition at line 34 of file framevel.inl.

References KDL::FrameVel::M, and KDL::FrameVel::p.

Frame2 KDL::operator*	(	const Frame2 &	lhs,
		const Frame2 &	rhs
	)			`[inline]`

Definition at line 918 of file frames.inl.

References KDL::Frame2::M, and KDL::Frame2::p.

Rotation2 KDL::operator*	(	const Rotation2 &	lhs,
		const Rotation2 &	rhs
	)			`[inline]`

Definition at line 858 of file frames.inl.

Vector2 KDL::operator*	(	double	lhs,
		const Vector2 &	rhs
	)			`[inline]`

Definition at line 750 of file frames.inl.

Vector2 KDL::operator*	(	const Vector2 &	lhs,
		double	rhs
	)			`[inline]`

Definition at line 745 of file frames.inl.

Frame KDL::operator*	(	const Frame &	lhs,
		const Frame &	rhs
	)

Definition at line 401 of file frames.inl.

References KDL::Frame::M, and KDL::Frame::p.

Wrench KDL::operator*	(	const Twist &	lhs,
		const Wrench &	rhs
	)

Definition at line 378 of file frames.inl.

References KDL::Wrench::force, KDL::Twist::rot, KDL::Wrench::torque, and KDL::Twist::vel.

Twist KDL::operator*	(	const Twist &	lhs,
		const Twist &	rhs
	)

Definition at line 374 of file frames.inl.

References KDL::Twist::rot, and KDL::Twist::vel.

Twist KDL::operator*	(	double	lhs,
		const Twist &	rhs
	)

Definition at line 345 of file frames.inl.

References KDL::Twist::rot, and KDL::Twist::vel.

Twist KDL::operator*	(	const Twist &	lhs,
		double	rhs
	)

Definition at line 340 of file frames.inl.

References KDL::Twist::rot, and KDL::Twist::vel.

Wrench KDL::operator*	(	double	lhs,
		const Wrench &	rhs
	)

Definition at line 242 of file frames.inl.

References KDL::Wrench::force, and KDL::Wrench::torque.

Wrench KDL::operator*	(	const Wrench &	lhs,
		double	rhs
	)

Definition at line 237 of file frames.inl.

References KDL::Wrench::force, and KDL::Wrench::torque.

Vector KDL::operator*	(	const Vector &	lhs,
		const Vector &	rhs
	)

Definition at line 105 of file frames.inl.

References KDL::Vector::data.

Vector KDL::operator*	(	double	lhs,
		const Vector &	rhs
	)

Definition at line 87 of file frames.inl.

References KDL::Vector::data.

Vector KDL::operator*	(	const Vector &	lhs,
		double	rhs
	)

Definition at line 78 of file frames.inl.

References KDL::Vector::data.

Rotation KDL::operator*	(	const Rotation &	lhs,
		const Rotation &	rhs
	)

Definition at line 164 of file frames.cpp.

References KDL::Rotation::data.

TwistAcc KDL::operator*	(	const doubleAcc &	lhs,
		const TwistAcc &	rhs
	)

Definition at line 492 of file frameacc.inl.

References KDL::TwistAcc::rot, and KDL::TwistAcc::vel.

TwistAcc KDL::operator*	(	const TwistAcc &	lhs,
		const doubleAcc &	rhs
	)

Definition at line 487 of file frameacc.inl.

References KDL::TwistAcc::rot, and KDL::TwistAcc::vel.

TwistAcc KDL::operator*	(	double	lhs,
		const TwistAcc &	rhs
	)

Definition at line 476 of file frameacc.inl.

References KDL::TwistAcc::rot, and KDL::TwistAcc::vel.

TwistAcc KDL::operator*	(	const TwistAcc &	lhs,
		double	rhs
	)

Definition at line 471 of file frameacc.inl.

References KDL::TwistAcc::rot, and KDL::TwistAcc::vel.

FrameAcc KDL::operator*	(	const Frame &	lhs,
		const FrameAcc &	rhs
	)

Definition at line 358 of file frameacc.inl.

References KDL::FrameAcc::M, KDL::Frame::M, KDL::Frame::p, and KDL::FrameAcc::p.

FrameAcc KDL::operator*	(	const FrameAcc &	lhs,
		const Frame &	rhs
	)

Definition at line 354 of file frameacc.inl.

References KDL::Frame::M, KDL::FrameAcc::M, KDL::FrameAcc::p, and KDL::Frame::p.

FrameAcc KDL::operator*	(	const FrameAcc &	lhs,
		const FrameAcc &	rhs
	)

Definition at line 350 of file frameacc.inl.

References KDL::FrameAcc::M, and KDL::FrameAcc::p.

VectorAcc KDL::operator*	(	const Rotation &	R,
		const VectorAcc &	x
	)

Definition at line 255 of file frameacc.inl.

References KDL::VectorAcc::dv, KDL::VectorAcc::p, and KDL::VectorAcc::v.

RotationAcc KDL::operator*	(	const RotationAcc &	r1,
		const Rotation &	r2
	)

Definition at line 204 of file frameacc.inl.

References KDL::RotationAcc::dw, KDL::RotationAcc::R, and KDL::RotationAcc::w.

RotationAcc KDL::operator*	(	const Rotation &	r1,
		const RotationAcc &	r2
	)

Definition at line 200 of file frameacc.inl.

References KDL::RotationAcc::dw, KDL::RotationAcc::R, and KDL::RotationAcc::w.

RotationAcc KDL::operator*	(	const RotationAcc &	r1,
		const RotationAcc &	r2
	)

Definition at line 193 of file frameacc.inl.

References KDL::RotationAcc::dw, KDL::RotationAcc::R, and KDL::RotationAcc::w.

VectorAcc KDL::operator*	(	const VectorAcc &	r2,
		const doubleAcc &	r1
	)

Definition at line 86 of file frameacc.inl.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, KDL::VectorAcc::dv, KDL::VectorAcc::p, KDL::Rall2d< T, V, S >::t, and KDL::VectorAcc::v.

VectorAcc KDL::operator*	(	const doubleAcc &	r1,
		const VectorAcc &	r2
	)

Definition at line 79 of file frameacc.inl.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, KDL::VectorAcc::dv, KDL::VectorAcc::p, KDL::Rall2d< T, V, S >::t, and KDL::VectorAcc::v.

VectorAcc KDL::operator*	(	const VectorAcc &	r1,
		double	r2
	)

Definition at line 75 of file frameacc.inl.

References KDL::VectorAcc::dv, KDL::VectorAcc::p, and KDL::VectorAcc::v.

VectorAcc KDL::operator*	(	double	r1,
		const VectorAcc &	r2
	)

Definition at line 71 of file frameacc.inl.

References KDL::VectorAcc::dv, KDL::VectorAcc::p, and KDL::VectorAcc::v.

VectorAcc KDL::operator*	(	const Vector &	r1,
		const VectorAcc &	r2
	)

Definition at line 64 of file frameacc.inl.

References KDL::VectorAcc::dv, KDL::VectorAcc::p, and KDL::VectorAcc::v.

VectorAcc KDL::operator*	(	const VectorAcc &	r1,
		const Vector &	r2
	)

Definition at line 60 of file frameacc.inl.

References KDL::VectorAcc::dv, KDL::VectorAcc::p, and KDL::VectorAcc::v.

VectorAcc KDL::operator*	(	const VectorAcc &	r1,
		const VectorAcc &	r2
	)

Definition at line 53 of file frameacc.inl.

References KDL::VectorAcc::dv, KDL::VectorAcc::p, and KDL::VectorAcc::v.

ArticulatedBodyInertia KDL::operator*	(	const Rotation &	M,
		const ArticulatedBodyInertia &	I
	)

Definition at line 92 of file articulatedbodyinertia.cpp.

References KDL::Rotation::data, KDL::ArticulatedBodyInertia::H, KDL::ArticulatedBodyInertia::I, and KDL::ArticulatedBodyInertia::M.

ArticulatedBodyInertia KDL::operator*	(	const Frame &	T,
		const ArticulatedBodyInertia &	I
	)

Definition at line 77 of file articulatedbodyinertia.cpp.

References KDL::Rotation::data, KDL::ArticulatedBodyInertia::H, KDL::ArticulatedBodyInertia::I, KDL::Frame::Inverse(), KDL::ArticulatedBodyInertia::M, KDL::Frame::M, and KDL::Frame::p.

Wrench KDL::operator*	(	const ArticulatedBodyInertia &	I,
		const Twist &	t
	)

Definition at line 70 of file articulatedbodyinertia.cpp.

References KDL::Vector::data, KDL::Wrench::force, KDL::ArticulatedBodyInertia::H, KDL::ArticulatedBodyInertia::I, KDL::ArticulatedBodyInertia::M, result, KDL::Twist::rot, KDL::Wrench::torque, and KDL::Twist::vel.

ArticulatedBodyInertia KDL::operator*	(	double	a,
		const ArticulatedBodyInertia &	I
	)

Definition at line 51 of file articulatedbodyinertia.cpp.

References KDL::ArticulatedBodyInertia::H, KDL::ArticulatedBodyInertia::I, and KDL::ArticulatedBodyInertia::M.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator+	(	const Rall2d< T, V, S > &	v,
		S	s
	)			`[inline]`

Definition at line 282 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator+	(	S	s,
		const Rall2d< T, V, S > &	v
	)			`[inline]`

Definition at line 276 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator+	(	const Rall2d< T, V, S > &	lhs,
		const Rall2d< T, V, S > &	rhs
	)			`[inline]`

Definition at line 246 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator+	(	const Rall1d< T, V, S > &	v,
		S	s
	)			`[inline]`

Definition at line 266 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator+	(	S	s,
		const Rall1d< T, V, S > &	v
	)			`[inline]`

Definition at line 260 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator+	(	const Rall1d< T, V, S > &	lhs,
		const Rall1d< T, V, S > &	rhs
	)			`[inline]`

Definition at line 229 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

Stiffness KDL::operator+	(	const Stiffness &	s1,
		const Stiffness &	s2
	)			`[inline]`

Definition at line 92 of file stiffness.hpp.

RotationalInertia KDL::operator+	(	const RotationalInertia &	Ia,
		const RotationalInertia &	Ib
	)

Definition at line 56 of file rotationalinertia.cpp.

References KDL::RotationalInertia::data, and result.

RigidBodyInertia KDL::operator+	(	const RigidBodyInertia &	Ia,
		const RigidBodyInertia &	Ib
	)

Definition at line 48 of file rigidbodyinertia.cpp.

References mhi.

TwistVel KDL::operator+	(	const TwistVel &	lhs,
		const TwistVel &	rhs
	)

Definition at line 450 of file framevel.inl.

References KDL::TwistVel::rot, and KDL::TwistVel::vel.

VectorVel KDL::operator+	(	const Vector &	r1,
		const VectorVel &	r2
	)

Definition at line 227 of file framevel.inl.

References KDL::VectorVel::p, and KDL::VectorVel::v.

VectorVel KDL::operator+	(	const VectorVel &	r1,
		const Vector &	r2
	)

Definition at line 219 of file framevel.inl.

References KDL::VectorVel::p, and KDL::VectorVel::v.

VectorVel KDL::operator+	(	const VectorVel &	r1,
		const VectorVel &	r2
	)

Definition at line 211 of file framevel.inl.

References KDL::VectorVel::p, and KDL::VectorVel::v.

Vector2 KDL::operator+	(	const Vector2 &	lhs,
		const Vector2 &	rhs
	)			`[inline]`

Definition at line 735 of file frames.inl.

Twist KDL::operator+	(	const Twist &	lhs,
		const Twist &	rhs
	)

Definition at line 356 of file frames.inl.

References KDL::Twist::rot, and KDL::Twist::vel.

Wrench KDL::operator+	(	const Wrench &	lhs,
		const Wrench &	rhs
	)

Definition at line 253 of file frames.inl.

References KDL::Wrench::force, and KDL::Wrench::torque.

Vector KDL::operator+	(	const Vector &	lhs,
		const Vector &	rhs
	)			`[inline]`

Definition at line 52 of file frames.inl.

References KDL::Vector::data.

TwistAcc KDL::operator+	(	const TwistAcc &	lhs,
		const TwistAcc &	rhs
	)

Definition at line 505 of file frameacc.inl.

References KDL::TwistAcc::rot, and KDL::TwistAcc::vel.

VectorAcc KDL::operator+	(	const VectorAcc &	r1,
		const Vector &	r2
	)

Definition at line 39 of file frameacc.inl.

References KDL::VectorAcc::dv, KDL::VectorAcc::p, and KDL::VectorAcc::v.

VectorAcc KDL::operator+	(	const Vector &	r1,
		const VectorAcc &	r2
	)

Definition at line 32 of file frameacc.inl.

References KDL::VectorAcc::dv, KDL::VectorAcc::p, and KDL::VectorAcc::v.

VectorAcc KDL::operator+	(	const VectorAcc &	r1,
		const VectorAcc &	r2
	)

Definition at line 25 of file frameacc.inl.

References KDL::VectorAcc::dv, KDL::VectorAcc::p, and KDL::VectorAcc::v.

ArticulatedBodyInertia KDL::operator+	(	const RigidBodyInertia &	Ia,
		const ArticulatedBodyInertia &	Ib
	)

Definition at line 59 of file articulatedbodyinertia.cpp.

ArticulatedBodyInertia KDL::operator+	(	const ArticulatedBodyInertia &	Ia,
		const ArticulatedBodyInertia &	Ib
	)

Definition at line 55 of file articulatedbodyinertia.cpp.

References KDL::ArticulatedBodyInertia::H, KDL::ArticulatedBodyInertia::I, and KDL::ArticulatedBodyInertia::M.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator-	(	const Rall2d< T, V, S > &	v,
		S	s
	)			`[inline]`

Definition at line 294 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator-	(	S	s,
		const Rall2d< T, V, S > &	v
	)			`[inline]`

Definition at line 288 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator- ( const Rall2d< T, V, S > & arg ) [inline]

Definition at line 258 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator-	(	const Rall2d< T, V, S > &	lhs,
		const Rall2d< T, V, S > &	rhs
	)			`[inline]`

Definition at line 252 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator-	(	const Rall1d< T, V, S > &	v,
		S	s
	)			`[inline]`

Definition at line 278 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator-	(	S	s,
		const Rall1d< T, V, S > &	v
	)			`[inline]`

Definition at line 272 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator- ( const Rall1d< T, V, S > & arg ) [inline]

Definition at line 242 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator-	(	const Rall1d< T, V, S > &	lhs,
		const Rall1d< T, V, S > &	rhs
	)			`[inline]`

Definition at line 236 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

TwistVel KDL::operator- ( const TwistVel & arg )

Definition at line 461 of file framevel.inl.

References KDL::TwistVel::rot, and KDL::TwistVel::vel.

TwistVel KDL::operator-	(	const TwistVel &	lhs,
		const TwistVel &	rhs
	)

Definition at line 455 of file framevel.inl.

References KDL::TwistVel::rot, and KDL::TwistVel::vel.

VectorVel KDL::operator- ( const VectorVel & r )

Definition at line 236 of file framevel.inl.

References KDL::VectorVel::p, and KDL::VectorVel::v.

VectorVel KDL::operator-	(	const Vector &	r1,
		const VectorVel &	r2
	)

Definition at line 231 of file framevel.inl.

References KDL::VectorVel::p, and KDL::VectorVel::v.

VectorVel KDL::operator-	(	const VectorVel &	r1,
		const Vector &	r2
	)

Definition at line 223 of file framevel.inl.

References KDL::VectorVel::p, and KDL::VectorVel::v.

VectorVel KDL::operator-	(	const VectorVel &	r1,
		const VectorVel &	r2
	)

Definition at line 215 of file framevel.inl.

References KDL::VectorVel::p, and KDL::VectorVel::v.

Vector2 KDL::operator- ( const Vector2 & arg ) [inline]

Definition at line 803 of file frames.inl.

Vector2 KDL::operator-	(	const Vector2 &	lhs,
		const Vector2 &	rhs
	)			`[inline]`

Definition at line 740 of file frames.inl.

Vector KDL::operator- ( const Vector & arg )

Definition at line 444 of file frames.inl.

References KDL::Vector::data.

Twist KDL::operator- ( const Twist & arg )

Definition at line 367 of file frames.inl.

References KDL::Twist::rot, and KDL::Twist::vel.

Twist KDL::operator-	(	const Twist &	lhs,
		const Twist &	rhs
	)

Definition at line 361 of file frames.inl.

References KDL::Twist::rot, and KDL::Twist::vel.

Wrench KDL::operator- ( const Wrench & arg )

Definition at line 264 of file frames.inl.

References KDL::Wrench::force, and KDL::Wrench::torque.

Wrench KDL::operator-	(	const Wrench &	lhs,
		const Wrench &	rhs
	)

Definition at line 258 of file frames.inl.

References KDL::Wrench::force, and KDL::Wrench::torque.

Vector KDL::operator-	(	const Vector &	lhs,
		const Vector &	rhs
	)			`[inline]`

Definition at line 61 of file frames.inl.

References KDL::Vector::data.

TwistAcc KDL::operator- ( const TwistAcc & arg )

Definition at line 516 of file frameacc.inl.

References KDL::TwistAcc::rot, and KDL::TwistAcc::vel.

TwistAcc KDL::operator-	(	const TwistAcc &	lhs,
		const TwistAcc &	rhs
	)

Definition at line 510 of file frameacc.inl.

References KDL::TwistAcc::rot, and KDL::TwistAcc::vel.

VectorAcc KDL::operator- ( const VectorAcc & r )

Definition at line 48 of file frameacc.inl.

References KDL::VectorAcc::dv, KDL::VectorAcc::p, and KDL::VectorAcc::v.

VectorAcc KDL::operator-	(	const VectorAcc &	r1,
		const Vector &	r2
	)

Definition at line 43 of file frameacc.inl.

References KDL::VectorAcc::dv, KDL::VectorAcc::p, and KDL::VectorAcc::v.

VectorAcc KDL::operator-	(	const Vector &	r1,
		const VectorAcc &	r2
	)

Definition at line 36 of file frameacc.inl.

References KDL::VectorAcc::dv, KDL::VectorAcc::p, and KDL::VectorAcc::v.

VectorAcc KDL::operator-	(	const VectorAcc &	r1,
		const VectorAcc &	r2
	)

Definition at line 29 of file frameacc.inl.

References KDL::VectorAcc::dv, KDL::VectorAcc::p, and KDL::VectorAcc::v.

ArticulatedBodyInertia KDL::operator-	(	const RigidBodyInertia &	Ia,
		const ArticulatedBodyInertia &	Ib
	)

Definition at line 66 of file articulatedbodyinertia.cpp.

ArticulatedBodyInertia KDL::operator-	(	const ArticulatedBodyInertia &	Ia,
		const ArticulatedBodyInertia &	Ib
	)

Definition at line 62 of file articulatedbodyinertia.cpp.

References KDL::ArticulatedBodyInertia::H, KDL::ArticulatedBodyInertia::I, and KDL::ArticulatedBodyInertia::M.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator/	(	const Rall2d< T, V, S > &	v,
		S	s
	)			`[inline]`

Definition at line 311 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator/	(	S	s,
		const Rall2d< T, V, S > &	rhs
	)			`[inline]`

Definition at line 300 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::operator/	(	const Rall2d< T, V, S > &	lhs,
		const Rall2d< T, V, S > &	rhs
	)			`[inline]`

Definition at line 226 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator/	(	const Rall1d< T, V, S > &	v,
		S	s
	)			`[inline]`

Definition at line 290 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator/	(	S	s,
		const Rall1d< T, V, S > &	v
	)			`[inline]`

Definition at line 284 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::operator/	(	const Rall1d< T, V, S > &	lhs,
		const Rall1d< T, V, S > &	rhs
	)			`[inline]`

Definition at line 217 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

TwistVel KDL::operator/	(	const TwistVel &	lhs,
		const doubleVel &	rhs
	)

Definition at line 442 of file framevel.inl.

References KDL::TwistVel::rot, and KDL::TwistVel::vel.

TwistVel KDL::operator/	(	const TwistVel &	lhs,
		double	rhs
	)

Definition at line 426 of file framevel.inl.

References KDL::TwistVel::rot, and KDL::TwistVel::vel.

VectorVel KDL::operator/	(	const VectorVel &	r2,
		const doubleVel &	r1
	)

Definition at line 283 of file framevel.inl.

References KDL::Rall1d< T, V, S >::grad, KDL::VectorVel::p, KDL::Rall1d< T, V, S >::t, and KDL::VectorVel::v.

VectorVel KDL::operator/	(	const VectorVel &	r1,
		double	r2
	)

Definition at line 279 of file framevel.inl.

References KDL::VectorVel::p, and KDL::VectorVel::v.

Vector2 KDL::operator/	(	const Vector2 &	lhs,
		double	rhs
	)			`[inline]`

Definition at line 755 of file frames.inl.

Twist KDL::operator/	(	const Twist &	lhs,
		double	rhs
	)

Definition at line 350 of file frames.inl.

References KDL::Twist::rot, and KDL::Twist::vel.

Wrench KDL::operator/	(	const Wrench &	lhs,
		double	rhs
	)

Definition at line 247 of file frames.inl.

References KDL::Wrench::force, and KDL::Wrench::torque.

Vector KDL::operator/	(	const Vector &	lhs,
		double	rhs
	)

Definition at line 96 of file frames.inl.

References KDL::Vector::data.

TwistAcc KDL::operator/	(	const TwistAcc &	lhs,
		const doubleAcc &	rhs
	)

Definition at line 497 of file frameacc.inl.

References KDL::TwistAcc::rot, and KDL::TwistAcc::vel.

TwistAcc KDL::operator/	(	const TwistAcc &	lhs,
		double	rhs
	)

Definition at line 481 of file frameacc.inl.

References KDL::TwistAcc::rot, and KDL::TwistAcc::vel.

VectorAcc KDL::operator/	(	const VectorAcc &	r2,
		const doubleAcc &	r1
	)

Definition at line 185 of file frameacc.inl.

VectorAcc KDL::operator/	(	const VectorAcc &	r1,
		double	r2
	)

Definition at line 181 of file frameacc.inl.

template<class T , class V , class S >

std::ostream& KDL::operator<<	(	std::ostream &	os,
		const Rall2d< T, V, S > &	r
	)			`[inline]`

Definition at line 29 of file rall2d_io.h.

template<class T , class V , class S >

std::ostream& KDL::operator<<	(	std::ostream &	os,
		const Rall1d< T, V, S > &	r
	)			`[inline]`

Definition at line 27 of file rall1d_io.h.

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const JntSpaceInertiaMatrix &	jntspaceinertiamatrix
	)

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Jacobian &	jac
	)

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const JntArray &	array
	)

std::ostream & KDL::operator<<	(	std::ostream &	os,
		SegmentMap::const_iterator	root
	)

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Tree &	tree
	)

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Chain &	chain
	)

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Segment &	segment
	)

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Joint &	joint
	)

std::ostream& KDL::operator<<	(	std::ostream &	os,
		const TwistVel &	r
	)			`[inline]`

Definition at line 46 of file framevel_io.hpp.

References KDL::TwistVel::rot, and KDL::TwistVel::vel.

std::ostream& KDL::operator<<	(	std::ostream &	os,
		const FrameVel &	r
	)			`[inline]`

Definition at line 41 of file framevel_io.hpp.

References KDL::FrameVel::M, and KDL::FrameVel::p.

std::ostream& KDL::operator<<	(	std::ostream &	os,
		const RotationVel &	r
	)			`[inline]`

Definition at line 35 of file framevel_io.hpp.

References KDL::RotationVel::R, and KDL::RotationVel::w.

std::ostream& KDL::operator<<	(	std::ostream &	os,
		const VectorVel &	r
	)			`[inline]`

Definition at line 30 of file framevel_io.hpp.

References KDL::VectorVel::p, and KDL::VectorVel::v.

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Frame2 &	T
	)

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Rotation2 &	R
	)

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Vector2 &	v
	)

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Frame &	T
	)

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Rotation &	R
	)

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Wrench &	v
	)

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Twist &	v
	)

std::ostream & KDL::operator<<	(	std::ostream &	os,
		const Vector &	v
	)

width to be used when printing variables out with frames_io.h global variable, can be changed.

std::ostream& KDL::operator<<	(	std::ostream &	os,
		const TwistAcc &	r
	)			`[inline]`

Definition at line 48 of file frameacc_io.hpp.

References KDL::TwistAcc::rot, and KDL::TwistAcc::vel.

std::ostream& KDL::operator<<	(	std::ostream &	os,
		const FrameAcc &	r
	)			`[inline]`

Definition at line 44 of file frameacc_io.hpp.

References KDL::FrameAcc::M, and KDL::FrameAcc::p.

std::ostream& KDL::operator<<	(	std::ostream &	os,
		const RotationAcc &	r
	)			`[inline]`

Definition at line 37 of file frameacc_io.hpp.

References KDL::RotationAcc::dw, KDL::RotationAcc::R, and KDL::RotationAcc::w.

std::ostream& KDL::operator<<	(	std::ostream &	os,
		const VectorAcc &	r
	)			`[inline]`

Definition at line 32 of file frameacc_io.hpp.

References KDL::VectorAcc::dv, KDL::VectorAcc::p, and KDL::VectorAcc::v.

bool KDL::operator==	(	const JntSpaceInertiaMatrix &	src1,
		const JntSpaceInertiaMatrix &	src2
	)

bool KDL::operator==	(	const JntArray &	src1,
		const JntArray &	src2
	)

bool KDL::operator==	(	const Vector2 &	a,
		const Vector2 &	b
	)			`[inline]`

Definition at line 1351 of file frames.inl.

References Equal().

bool KDL::operator==	(	const Wrench &	a,
		const Wrench &	b
	)			`[inline]`

Definition at line 1335 of file frames.inl.

References Equal(), KDL::Wrench::force, and KDL::Wrench::torque.

bool KDL::operator==	(	const Twist &	a,
		const Twist &	b
	)			`[inline]`

Definition at line 1322 of file frames.inl.

References Equal(), KDL::Twist::rot, and KDL::Twist::vel.

bool KDL::operator==	(	const Vector &	a,
		const Vector &	b
	)			`[inline]`

Definition at line 1308 of file frames.inl.

References KDL::Vector::data, and Equal().

bool KDL::operator==	(	const Frame &	a,
		const Frame &	b
	)			`[inline]`

Definition at line 1295 of file frames.inl.

References Equal(), KDL::Frame::M, and KDL::Frame::p.

bool KDL::operator==	(	const Rotation &	a,
		const Rotation &	b
	)

Referenced by operator!=().

std::istream & KDL::operator>>	(	std::istream &	is,
		JntSpaceInertiaMatrix &	jntspaceinertiamatrix
	)

std::istream & KDL::operator>>	(	std::istream &	is,
		Jacobian &	jac
	)

std::istream & KDL::operator>>	(	std::istream &	is,
		JntArray &	array
	)

std::istream & KDL::operator>>	(	std::istream &	is,
		Tree &	tree
	)

std::istream & KDL::operator>>	(	std::istream &	is,
		Chain &	chain
	)

std::istream & KDL::operator>>	(	std::istream &	is,
		Segment &	segment
	)

std::istream & KDL::operator>>	(	std::istream &	is,
		Joint &	joint
	)

std::istream & KDL::operator>>	(	std::istream &	is,
		Frame2 &	T
	)

std::istream & KDL::operator>>	(	std::istream &	is,
		Rotation2 &	r
	)

std::istream & KDL::operator>>	(	std::istream &	is,
		Vector2 &	v
	)

std::istream & KDL::operator>>	(	std::istream &	is,
		Frame &	T
	)

std::istream & KDL::operator>>	(	std::istream &	is,
		Rotation &	r
	)

std::istream & KDL::operator>>	(	std::istream &	is,
		Wrench &	v
	)

std::istream & KDL::operator>>	(	std::istream &	is,
		Twist &	v
	)

std::istream & KDL::operator>>	(	std::istream &	is,
		Vector &	v
	)

void KDL::posrandom ( double & a ) [inline]

Definition at line 272 of file utility.h.

void KDL::posrandom ( Stiffness & F ) [inline]

Definition at line 102 of file stiffness.hpp.

References posrandom().

void KDL::posrandom ( FrameVel & F ) [inline]

Definition at line 367 of file framevel.hpp.

References KDL::FrameVel::M, KDL::FrameVel::p, and posrandom().

void KDL::posrandom ( RotationVel & R ) [inline]

Definition at line 362 of file framevel.hpp.

References posrandom(), KDL::RotationVel::R, and KDL::RotationVel::w.

void KDL::posrandom ( TwistVel & a ) [inline]

Definition at line 357 of file framevel.hpp.

References posrandom(), KDL::TwistVel::rot, and KDL::TwistVel::vel.

void KDL::posrandom ( VectorVel & a ) [inline]

Definition at line 353 of file framevel.hpp.

References KDL::VectorVel::p, posrandom(), and KDL::VectorVel::v.

void KDL::posrandom ( doubleVel & F ) [inline]

Definition at line 50 of file framevel.hpp.

References KDL::Rall1d< T, V, S >::grad, posrandom(), and KDL::Rall1d< T, V, S >::t.

void KDL::posrandom ( Frame & F ) [inline]

Definition at line 1287 of file frames.inl.

References KDL::Frame::M, KDL::Frame::p, and random().

void KDL::posrandom ( Rotation & R ) [inline]

Definition at line 1277 of file frames.inl.

References KDL::Rotation::EulerZYX(), and posrandom().

void KDL::posrandom ( Wrench & a ) [inline]

Definition at line 1272 of file frames.inl.

References KDL::Wrench::force, posrandom(), and KDL::Wrench::torque.

void KDL::posrandom ( Twist & a ) [inline]

Definition at line 1268 of file frames.inl.

References posrandom(), KDL::Twist::rot, and KDL::Twist::vel.

void KDL::posrandom ( Vector & a ) [inline]

Definition at line 1263 of file frames.inl.

Referenced by posrandom(), and random().

double KDL::pow	(	double	a,
		double	b
	)			`[inline]`

Definition at line 122 of file utility.h.

References pow().

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::pow	(	const Rall2d< T, V, S > &	arg,
		double	m
	)			`[inline]`

Definition at line 395 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, pow(), and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::pow	(	const Rall1d< T, V, S > &	arg,
		double	m
	)			`[inline]`

double KDL::PYTHAG	(	double	a,
		double	b
	)			`[inline]`

Definition at line 29 of file svd_HH.cpp.

References sqrt().

Referenced by KDL::SVD_HH::calculate().

void KDL::random ( double & a ) [inline]

Definition at line 268 of file utility.h.

void KDL::random ( Stiffness & F ) [inline]

Definition at line 111 of file stiffness.hpp.

References posrandom().

void KDL::random ( FrameVel & F ) [inline]

Definition at line 349 of file framevel.hpp.

References KDL::FrameVel::M, KDL::FrameVel::p, and random().

void KDL::random ( RotationVel & R ) [inline]

Definition at line 344 of file framevel.hpp.

References KDL::RotationVel::R, random(), and KDL::RotationVel::w.

void KDL::random ( TwistVel & a ) [inline]

Definition at line 339 of file framevel.hpp.

References random(), KDL::TwistVel::rot, and KDL::TwistVel::vel.

void KDL::random ( VectorVel & a ) [inline]

Definition at line 335 of file framevel.hpp.

References KDL::VectorVel::p, random(), and KDL::VectorVel::v.

void KDL::random ( doubleVel & F ) [inline]

Definition at line 46 of file framevel.hpp.

References KDL::Rall1d< T, V, S >::grad, random(), and KDL::Rall1d< T, V, S >::t.

void KDL::random ( Frame & F ) [inline]

Definition at line 1258 of file frames.inl.

References KDL::Frame::M, KDL::Frame::p, and random().

void KDL::random ( Rotation & R ) [inline]

Definition at line 1248 of file frames.inl.

References KDL::Rotation::EulerZYX(), and random().

void KDL::random ( Wrench & a ) [inline]

Definition at line 1243 of file frames.inl.

References KDL::Wrench::force, random(), and KDL::Wrench::torque.

void KDL::random ( Twist & a ) [inline]

Definition at line 1239 of file frames.inl.

References random(), KDL::Twist::rot, and KDL::Twist::vel.

void KDL::random ( Vector & a ) [inline]

Definition at line 1234 of file frames.inl.

Referenced by posrandom(), and random().

Rotation KDL::Rot ( const Vector & axis_a_b ) [inline]

axis_a_b is a rotation vector, its norm is a rotation angle axis_a_b rotates the a frame towards the b frame.

This routine returns the rotation matrix R_a_b

Definition at line 1095 of file frames.inl.

References draftlibs::fcvec::angle(), cos(), KDL::Vector::Normalize(), and sin().

Referenced by addDelta().

void KDL::SetToIdentity ( double & arg ) [inline]

to uniformly set double, RNDouble,Vector,... objects to the identity element in template-classes

Definition at line 241 of file utility.h.

template<class T , class V , class S >

INLINE void KDL::SetToIdentity ( Rall2d< T, V, S > & value ) [inline]

Definition at line 518 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, SetToIdentity(), SetToZero(), and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE void KDL::SetToIdentity ( Rall1d< T, V, S > & value ) [inline]

Definition at line 462 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, SetToZero(), and KDL::Rall1d< T, V, S >::t.

Referenced by KDL::Rall2d< T, V, S >::Identity(), KDL::Rall1d< T, V, S >::Identity(), and SetToIdentity().

void KDL::SetToZero ( double & arg ) [inline]

to uniformly set double, RNDouble,Vector,... objects to zero in template-classes

Definition at line 236 of file utility.h.

template<class T , class V , class S >

INLINE void KDL::SetToZero ( Rall2d< T, V, S > & value ) [inline]

Definition at line 510 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, SetToZero(), and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE void KDL::SetToZero ( Rall1d< T, V, S > & value ) [inline]

Definition at line 456 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, SetToZero(), and KDL::Rall1d< T, V, S >::t.

void KDL::SetToZero ( JntSpaceInertiaMatrix & mat )

Definition at line 106 of file jntspaceinertiamatrix.cpp.

References KDL::JntSpaceInertiaMatrix::data.

void KDL::SetToZero ( JntArrayVel & array )

Definition at line 105 of file jntarrayvel.cpp.

References KDL::JntArrayVel::q, KDL::JntArrayVel::qdot, and SetToZero().

void KDL::SetToZero ( JntArrayAcc & array )

Definition at line 164 of file jntarrayacc.cpp.

References KDL::JntArrayAcc::q, KDL::JntArrayAcc::qdot, KDL::JntArrayAcc::qdotdot, and SetToZero().

void KDL::SetToZero ( JntArray & array )

Function to set all the values of the array to 0.

Parameters:

array

void KDL::SetToZero ( Jacobian & jac )

Definition at line 80 of file jacobian.cpp.

References KDL::Jacobian::data.

void KDL::SetToZero ( TwistVel & v )

Definition at line 466 of file framevel.inl.

References KDL::TwistVel::rot, SetToZero(), and KDL::TwistVel::vel.

void KDL::SetToZero ( VectorVel & v )

Definition at line 240 of file framevel.inl.

References KDL::VectorVel::p, SetToZero(), and KDL::VectorVel::v.

void KDL::SetToZero ( Vector2 & v ) [inline]

Definition at line 1068 of file frames.inl.

References KDL::Vector2::Zero().

void KDL::SetToZero ( Wrench & v ) [inline]

Definition at line 1063 of file frames.inl.

References KDL::Wrench::force, SetToZero(), and KDL::Wrench::torque.

void KDL::SetToZero ( Twist & v ) [inline]

Definition at line 1059 of file frames.inl.

References KDL::Twist::rot, SetToZero(), and KDL::Twist::vel.

void KDL::SetToZero ( Vector & v ) [inline]

Definition at line 1056 of file frames.inl.

References KDL::Vector::Zero().

Referenced by KDL::ChainDynParam::JntToCoriolis(), KDL::ChainDynParam::JntToGravity(), KDL::TreeJntToJacSolver::JntToJac(), KDL::ChainJntToJacSolver::JntToJac(), KDL::Rall2d< T, V, S >::operator=(), KDL::Rall1d< T, V, S >::operator=(), KDL::Rall1d< T, V, S >::Rall1d(), KDL::Rall2d< T, V, S >::Rall2d(), SetToIdentity(), SetToZero(), KDL::Rall2d< T, V, S >::Zero(), and KDL::Rall1d< T, V, S >::Zero().

double KDL::sign ( double arg ) [inline]

Definition at line 245 of file utility.h.

Referenced by annRanLaplace(), KDL::Rotation::GetRPY(), KDL::VelocityProfile_TrapHalf::SetProfile(), KDL::VelocityProfile_Trap::SetProfile(), and KDL::VelocityProfile_TrapHalf::SetProfileDuration().

double KDL::SIGN	(	double	a,
		double	b
	)			`[inline]`

Definition at line 47 of file svd_HH.cpp.

Referenced by KDL::SVD_HH::calculate().

double KDL::sin ( double a ) [inline]

Definition at line 85 of file utility.h.

References sin().

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::sin ( const Rall2d< T, V, S > & arg ) [inline]

Definition at line 338 of file rall2d.h.

References cos(), KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, sin(), KDL::Rall2d< T, V, S >::t, and draftlibs::fcgeo::v1().

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::sin ( const Rall1d< T, V, S > & arg ) [inline]

Definition at line 313 of file rall1d.h.

References cos(), KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

Referenced by KDL::Path_Circle::Acc(), acos(), CmdSandboxDocThreadBusy::activated(), CmdSandboxDocThreadWithSeq::activated(), Build_Rotate_Quaternion(), cutting_tools::calculateAccurateSlaveZLevel(), cos(), KDL::Frame::DH(), KDL::Frame::DH_Craig1989(), KDL::Rotation::DoRotX(), KDL::Rotation::DoRotY(), KDL::Rotation::DoRotZ(), SketcherGui::ViewProviderSketch::draw(), MeshCore::MeshGeomFacet::Enlarge(), GCS::ConstraintL2LAngle::error(), GCS::ConstraintP2PAngle::error(), KDL::Rotation::EulerZYZ(), fit_iter(), generateTexture(), KDL::Rotation::GetRotAngle(), Base::Rotation::getValue(), GCS::ConstraintL2LAngle::grad(), GCS::ConstraintP2PAngle::grad(), DrawSketchHandlerCircle::mouseMove(), DrawSketchHandlerArc::mouseMove(), SketcherGui::ViewProviderSketch::moveConstraint(), Approximate::ParameterInnerPoints(), KDL::Path_Circle::Pos(), Quaternion_To_Axis_Angle(), DrawSketchHandlerFillet::releaseButton(), Rot(), KDL::Rotation2::Rot(), KDL::Rotation::Rot2(), Base::Vector3< _Precision >::RotateX(), Base::Vector3< _Precision >::RotateY(), Base::Vector3< _Precision >::RotateZ(), Base::Matrix4D::rotLine(), Base::Matrix4D::rotX(), KDL::Rotation::RotX(), Base::Matrix4D::rotY(), KDL::Rotation::RotY(), Base::Matrix4D::rotZ(), KDL::Rotation::RotZ(), KDL::Rotation::RPY(), Sandbox::WorkerThread::run(), KDL::Rotation2::SetRot(), Base::Rotation::setValue(), Base::Rotation::setYawPitchRoll(), Wm4::Math< Real >::Sin(), sin(), Base::Rotation::slerp(), MeshCore::MeshGeomFacet::SubSample(), svd_eigen_Macie(), Base::Matrix4D::toAxisAngle(), KDL::Path_Circle::Vel(), and yyparse().

double KDL::sinh ( double a ) [inline]

Definition at line 104 of file utility.h.

References sinh().

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::sinh ( const Rall2d< T, V, S > & arg ) [inline]

Definition at line 362 of file rall2d.h.

References cosh(), KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, sinh(), KDL::Rall2d< T, V, S >::t, and draftlibs::fcgeo::v1().

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::sinh ( const Rall1d< T, V, S > & arg ) [inline]

Definition at line 337 of file rall1d.h.

References cosh(), KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

Referenced by cosh(), sinh(), and yyparse().

double KDL::sqr ( double arg ) [inline]

Definition at line 249 of file utility.h.

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::sqr ( const Rall2d< T, V, S > & arg ) [inline]

Definition at line 386 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, sqr(), and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::sqr ( const Rall1d< T, V, S > & arg ) [inline]

Definition at line 353 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

Referenced by acos(), asin(), atan(), atan2(), KDL::Rotation::GetEulerZYZ(), KDL::Rotation::GetRPY(), hypot(), KDL::Vector::Norm(), KDL::Vector2::Norm(), KDL::VelocityProfile_Trap::SetProfile(), sqr(), sqrt(), tan(), and tanh().

double KDL::sqrt ( double a ) [inline]

Definition at line 107 of file utility.h.

References sqrt().

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::sqrt ( const Rall2d< T, V, S > & arg ) [inline]

Definition at line 406 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, sqr(), sqrt(), and KDL::Rall2d< T, V, S >::t.

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::sqrt ( const Rall1d< T, V, S > & arg ) [inline]

Definition at line 369 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

void KDL::Subtract	(	const JntSpaceInertiaMatrix &	src1,
		const JntSpaceInertiaMatrix &	src2,
		JntSpaceInertiaMatrix &	dest
	)

Definition at line 86 of file jntspaceinertiamatrix.cpp.

References KDL::JntSpaceInertiaMatrix::data.

void KDL::Subtract	(	const JntArrayVel &	src1,
		const JntArray &	src2,
		JntArrayVel &	dest
	)

Definition at line 73 of file jntarrayvel.cpp.

References KDL::JntArrayVel::q, KDL::JntArrayVel::qdot, and Subtract().

void KDL::Subtract	(	const JntArrayVel &	src1,
		const JntArrayVel &	src2,
		JntArrayVel &	dest
	)

Definition at line 68 of file jntarrayvel.cpp.

References KDL::JntArrayVel::q, KDL::JntArrayVel::qdot, and Subtract().

void KDL::Subtract	(	const JntArrayAcc &	src1,
		const JntArray &	src2,
		JntArrayAcc &	dest
	)

Definition at line 97 of file jntarrayacc.cpp.

References KDL::JntArrayAcc::q, KDL::JntArrayAcc::qdot, KDL::JntArrayAcc::qdotdot, and Subtract().

void KDL::Subtract	(	const JntArrayAcc &	src1,
		const JntArrayVel &	src2,
		JntArrayAcc &	dest
	)

Definition at line 91 of file jntarrayacc.cpp.

References KDL::JntArrayVel::q, KDL::JntArrayAcc::q, KDL::JntArrayVel::qdot, KDL::JntArrayAcc::qdot, KDL::JntArrayAcc::qdotdot, and Subtract().

void KDL::Subtract	(	const JntArrayAcc &	src1,
		const JntArrayAcc &	src2,
		JntArrayAcc &	dest
	)

Definition at line 85 of file jntarrayacc.cpp.

References KDL::JntArrayAcc::q, KDL::JntArrayAcc::qdot, KDL::JntArrayAcc::qdotdot, and Subtract().

void KDL::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.

This function is aliasing-safe, A or B can be the same array as C.

Parameters:

	src1	A
	src2	B
	dest	C

Referenced by Divide(), and Subtract().

int KDL::svd_eigen_HH	(	const MatrixXd &	A,
		MatrixXd &	U,
		VectorXd &	S,
		MatrixXd &	V,
		VectorXd &	tmp,
		int	maxiter = `150`,
		double	epsilon = `1e-300`
	)

svd calculation of eigen matrices

Parameters:

	A	matrix<double>(mxn)
	U	matrix<double>(mxn)
	S	vector<double> n
	V	matrix<double>(nxn)
	tmp	vector<double> n
	maxiter	defaults to 150
	epsilon	defaults to 1e-300

Returns:: -2 if maxiter exceeded, 0 otherwise

Referenced by KDL::TreeIkSolverVel_wdls::CartToJnt(), and KDL::ChainIkSolverVel_wdls::CartToJnt().

int KDL::svd_eigen_Macie	(	const MatrixXd &	A,
		MatrixXd &	U,
		VectorXd &	S,
		MatrixXd &	V,
		MatrixXd &	B,
		VectorXd &	tempi,
		double	treshold,
		bool	toggle
	)

Definition at line 33 of file svd_eigen_Macie.hpp.

References cos(), draftTools::p, pow(), Draft::rotate(), sin(), and sqrt().

Referenced by KDL::ChainIkSolverVel_pinv_givens::CartToJnt().

double KDL::tan ( double a ) [inline]

Definition at line 98 of file utility.h.

References tan().

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::tan ( const Rall2d< T, V, S > & arg ) [inline]

Definition at line 354 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, sqr(), KDL::Rall2d< T, V, S >::t, tan(), and draftlibs::fcgeo::v1().

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::tan ( const Rall1d< T, V, S > & arg ) [inline]

Definition at line 329 of file rall1d.h.

References cos(), KDL::Rall1d< T, V, S >::grad, sqr(), and KDL::Rall1d< T, V, S >::t.

Referenced by KDL::Path_RoundedComposite::Add(), Gui::NavigationStyle::boxZoom(), Wm4::Math< Real >::Tan(), tan(), and yyparse().

double KDL::tanh ( double a ) [inline]

Definition at line 119 of file utility.h.

References tanh().

template<class T , class V , class S >

INLINE Rall2d<T,V,S> KDL::tanh ( const Rall2d< T, V, S > & arg ) [inline]

Definition at line 378 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, sqr(), KDL::Rall2d< T, V, S >::t, tanh(), and draftlibs::fcgeo::v1().

template<class T , class V , class S >

INLINE Rall1d<T,V,S> KDL::tanh ( const Rall1d< T, V, S > & arg ) [inline]

Definition at line 424 of file rall1d.h.

References cosh(), KDL::Rall1d< T, V, S >::grad, sqr(), and KDL::Rall1d< T, V, S >::t.

Referenced by tanh(), and yyparse().

char KDL::Upper ( char ch ) [inline]

Definition at line 141 of file utility_io.cxx.

Referenced by GCS::System::diagnose(), and qp_eq().

Variable Documentation

const double KDL::deg2rad = 0.01745329251994329576923690768488

the value pi/180

Definition at line 17 of file utility.cxx.

Referenced by KDL::Path_Circle::Clone(), KDL::Path::Read(), and KDL::Path_Circle::Write().

double KDL::epsilon = 0.000001

default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001.

Definition at line 19 of file utility.cxx.

Referenced by KDL::Rotation::GetEulerZYZ(), KDL::Rotation::GetQuaternion(), KDL::Rotation::GetRot(), KDL::Rotation::GetRPY(), KDL::Frame::Integrate(), and KDL::Path_Circle::Path_Circle().

ErrorStack KDL::errorstack

Definition at line 29 of file error_stack.cxx.

int KDL::MAXLENFILENAME = 255

maximal length of a file name

Definition at line 15 of file utility.cxx.

const bool KDL::mhi = true [static]

Definition at line 30 of file rigidbodyinertia.cpp.

Referenced by operator*(), operator+(), and KDL::RigidBodyInertia::RefPoint().

const double KDL::PI = 3.1415926535897932384626433832795

the value of pi

Definition at line 16 of file utility.cxx.

Referenced by KDL::Path_RoundedComposite::Add(), cutting_tools::calculateAccurateSlaveZLevel(), SpringbackCorrection::FaceCheck(), fit_iter(), KDL::Rotation::GetEulerZYZ(), KDL::Rotation::GetRotAngle(), KDL::Rotation::GetRPY(), import_NASTRAN(), SpringbackCorrection::InitFaceCheck(), Part::TopoShape::makeHelix(), minBoundingBox(), and SpringbackCorrection::RegionEvaluate().

const double KDL::rad2deg = 57.2957795130823208767981548141052

the value 180/pi

Definition at line 18 of file utility.cxx.

int KDL::STREAMBUFFERSIZE = 10000

/note linkage Something fishy about the difference between C++ and C in C++ const values default to INTERNAL linkage, in C they default to EXTERNAL linkage.

Here the constants should have EXTERNAL linkage because they, for at least some of them, can be changed by the user. If you want to explicitly declare internal linkage, use "static".

Definition at line 14 of file utility.cxx.

KDL::USING_PART_OF_NAMESPACE_EIGEN

Definition at line 17 of file treeiksolvervel_wdls.hpp.

int KDL::VSIZE

the number of derivatives used in the RN-... objects.

KDL Namespace Reference

Classes

Typedefs

Functions

Variables

Typedef Documentation

Function Documentation

Variable Documentation