KDL::Rall1d< T, V, S > Class Template Reference

Rall1d contains a value, and its gradient, and defines an algebraic structure on this pair. More...

#include <rall1d.h>

List of all members.

Public Types
typedef V	gradienttype
typedef S	scalartype
typedef T	valuetype
Public Member Functions
V	deriv () const
INLINE V &	Gradient ()
INLINE Rall1d< T, V, S > &	operator*= (S rhs)
INLINE Rall1d< T, V, S > &	operator*= (const Rall1d< T, V, S > &rhs)
INLINE Rall1d< T, V, S > &	operator+= (S rhs)
INLINE Rall1d< T, V, S > &	operator+= (const Rall1d< T, V, S > &rhs)
INLINE Rall1d< T, V, S > &	operator-= (S rhs)
INLINE Rall1d< T, V, S > &	operator-= (const Rall1d< T, V, S > &rhs)
INLINE Rall1d< T, V, S > &	operator/= (S rhs)
INLINE Rall1d< T, V, S > &	operator/= (const Rall1d< T, V, S > &rhs)
INLINE Rall1d< T, V, S > &	operator= (const Rall1d< T, V, S > &r)
INLINE Rall1d< T, V, S > &	operator= (S c)
INLINE	Rall1d (const Rall1d< T, V, S > &r)
INLINE	Rall1d (typename TI< T >::Arg tn, typename TI< V >::Arg afg)
INLINE	Rall1d (typename TI< T >::Arg c)
INLINE	Rall1d ()
INLINE T &	Value ()
T	value () const
Static Public Member Functions
static INLINE Rall1d< T, V, S >	Identity ()
static INLINE Rall1d< T, V, S >	Zero ()
Public Attributes
V	grad
	gradient
T	t
	value

---

Detailed Description

template<typename T, typename V = T, typename S = T>
class KDL::Rall1d< T, V, S >

Rall1d contains a value, and its gradient, and defines an algebraic structure on this pair.

This template class has 3 template parameters :

• T contains the type of the value.
• V contains the type of the gradient (can be a vector-like type).
• S defines a scalar type that can operate on Rall1d. This is the type that is used to give back values of Norm() etc.

S is usefull when you recurse a Rall1d object into itself to create a 2nd, 3th, 4th,.. derivatives. (e.g. Rall1d< Rall1d<double>, Rall1d<double>, double> ).

S is always passed by value.

Class Type

Concrete implementation

Definition at line 49 of file rall1d.h.

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Member Typedef Documentation

template<typename T, typename V = T, typename S = T>

typedef V KDL::Rall1d< T, V, S >::gradienttype

Definition at line 53 of file rall1d.h.

template<typename T, typename V = T, typename S = T>

typedef S KDL::Rall1d< T, V, S >::scalartype

Definition at line 54 of file rall1d.h.

template<typename T, typename V = T, typename S = T>

typedef T KDL::Rall1d< T, V, S >::valuetype

Definition at line 52 of file rall1d.h.

---

Constructor & Destructor Documentation

template<typename T, typename V = T, typename S = T>

INLINE KDL::Rall1d< T, V, S >::Rall1d

(

)

[inline]

Definition at line 59 of file rall1d.h.

template<typename T, typename V = T, typename S = T>

INLINE KDL::Rall1d< T, V, S >::Rall1d

(

typename TI< T >::Arg

c

)

[inline, explicit]

Definition at line 68 of file rall1d.h.

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

template<typename T, typename V = T, typename S = T>

INLINE KDL::Rall1d< T, V, S >::Rall1d	(	typename TI< T >::Arg	tn,
		typename TI< V >::Arg	afg
	)			[inline]

Definition at line 71 of file rall1d.h.

template<typename T, typename V = T, typename S = T>

INLINE KDL::Rall1d< T, V, S >::Rall1d

(

const Rall1d< T, V, S > &

r

)

[inline]

Definition at line 73 of file rall1d.h.

---

Member Function Documentation

template<typename T, typename V = T, typename S = T>

V KDL::Rall1d< T, V, S >::deriv

(

)

const [inline]

Definition at line 64 of file rall1d.h.

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

template<typename T, typename V = T, typename S = T>

INLINE V& KDL::Rall1d< T, V, S >::Gradient

(

)

[inline]

Definition at line 82 of file rall1d.h.

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

template<typename T, typename V = T, typename S = T>

static INLINE Rall1d<T,V,S> KDL::Rall1d< T, V, S >::Identity

(

)

[inline, static]

Definition at line 91 of file rall1d.h.

References KDL::SetToIdentity().

template<typename T, typename V = T, typename S = T>

INLINE Rall1d<T,V,S>& KDL::Rall1d< T, V, S >::operator*=

(

S

rhs

)

[inline]

Definition at line 138 of file rall1d.h.

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

template<typename T, typename V = T, typename S = T>

INLINE Rall1d<T,V,S>& KDL::Rall1d< T, V, S >::operator*=

(

const Rall1d< T, V, S > &

rhs

)

[inline]

Definition at line 110 of file rall1d.h.

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

template<typename T, typename V = T, typename S = T>

INLINE Rall1d<T,V,S>& KDL::Rall1d< T, V, S >::operator+=

(

S

rhs

)

[inline]

Definition at line 145 of file rall1d.h.

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

template<typename T, typename V = T, typename S = T>

INLINE Rall1d<T,V,S>& KDL::Rall1d< T, V, S >::operator+=

(

const Rall1d< T, V, S > &

rhs

)

[inline]

Definition at line 117 of file rall1d.h.

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

template<typename T, typename V = T, typename S = T>

INLINE Rall1d<T,V,S>& KDL::Rall1d< T, V, S >::operator-=

(

S

rhs

)

[inline]

Definition at line 151 of file rall1d.h.

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

template<typename T, typename V = T, typename S = T>

INLINE Rall1d<T,V,S>& KDL::Rall1d< T, V, S >::operator-=

(

const Rall1d< T, V, S > &

rhs

)

[inline]

Definition at line 124 of file rall1d.h.

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

template<typename T, typename V = T, typename S = T>

INLINE Rall1d<T,V,S>& KDL::Rall1d< T, V, S >::operator/=

(

S

rhs

)

[inline]

Definition at line 131 of file rall1d.h.

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

template<typename T, typename V = T, typename S = T>

INLINE Rall1d<T,V,S>& KDL::Rall1d< T, V, S >::operator/=

(

const Rall1d< T, V, S > &

rhs

)

[inline]

Definition at line 103 of file rall1d.h.

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

template<typename T, typename V = T, typename S = T>

INLINE Rall1d<T,V,S>& KDL::Rall1d< T, V, S >::operator=

(

const Rall1d< T, V, S > &

r

)

[inline]

Definition at line 100 of file rall1d.h.

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

template<typename T, typename V = T, typename S = T>

INLINE Rall1d<T,V,S>& KDL::Rall1d< T, V, S >::operator=

(

S

c

)

[inline]

Definition at line 97 of file rall1d.h.

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

template<typename T, typename V = T, typename S = T>

INLINE T& KDL::Rall1d< T, V, S >::Value

(

)

[inline]

Definition at line 78 of file rall1d.h.

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

template<typename T, typename V = T, typename S = T>

T KDL::Rall1d< T, V, S >::value

(

)

const [inline]

Definition at line 61 of file rall1d.h.

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

template<typename T, typename V = T, typename S = T>

static INLINE Rall1d<T,V,S> KDL::Rall1d< T, V, S >::Zero

(

)

[inline, static]

Definition at line 86 of file rall1d.h.

References KDL::SetToZero().

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Member Data Documentation

template<typename T, typename V = T, typename S = T>

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

gradient

Definition at line 57 of file rall1d.h.

Referenced by KDL::abs(), KDL::acos(), KDL::addDelta(), KDL::asin(), KDL::atan(), KDL::atan2(), KDL::cos(), KDL::cosh(), KDL::Rall1d< T, V, S >::deriv(), KDL::diff(), KDL::Divide(), KDL::RotationVel::DoRotX(), KDL::RotationVel::DoRotY(), KDL::RotationVel::DoRotZ(), KDL::Equal(), KDL::exp(), KDL::Rall1d< T, V, S >::Gradient(), KDL::hypot(), KDL::LinComb(), KDL::LinCombR(), KDL::log(), KDL::Multiply(), KDL::operator*(), KDL::Rall1d< T, V, S >::operator*=(), KDL::operator+(), KDL::Rall1d< T, V, S >::operator+=(), KDL::operator-(), KDL::Rall1d< T, V, S >::operator-=(), KDL::operator/(), KDL::Rall1d< T, V, S >::operator/=(), KDL::Rall1d< T, V, S >::operator=(), KDL::posrandom(), KDL::pow(), KDL::Rall1d< T, V, S >::Rall1d(), KDL::random(), KDL::RotationVel::Rot(), KDL::RotationVel::Rot2(), KDL::RotationVel::RotX(), KDL::RotationVel::RotY(), KDL::RotationVel::RotZ(), KDL::SetToIdentity(), KDL::SetToZero(), KDL::sin(), KDL::sinh(), KDL::sqr(), KDL::sqrt(), KDL::tan(), and KDL::tanh().

template<typename T, typename V = T, typename S = T>

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

value

Definition at line 56 of file rall1d.h.

Referenced by KDL::acos(), KDL::addDelta(), KDL::asin(), KDL::atan(), KDL::atan2(), KDL::cos(), KDL::cosh(), KDL::diff(), KDL::Divide(), KDL::RotationVel::DoRotX(), KDL::RotationVel::DoRotY(), KDL::RotationVel::DoRotZ(), KDL::Equal(), KDL::exp(), KDL::hypot(), KDL::LinComb(), KDL::LinCombR(), KDL::log(), KDL::Multiply(), KDL::Norm(), KDL::operator*(), KDL::Rall1d< T, V, S >::operator*=(), KDL::operator+(), KDL::Rall1d< T, V, S >::operator+=(), KDL::operator-(), KDL::Rall1d< T, V, S >::operator-=(), KDL::operator/(), KDL::Rall1d< T, V, S >::operator/=(), KDL::Rall1d< T, V, S >::operator=(), KDL::posrandom(), KDL::pow(), KDL::Rall1d< T, V, S >::Rall1d(), KDL::random(), KDL::RotationVel::Rot(), KDL::RotationVel::Rot2(), KDL::RotationVel::RotX(), KDL::RotationVel::RotY(), KDL::RotationVel::RotZ(), KDL::SetToIdentity(), KDL::SetToZero(), KDL::sin(), KDL::sinh(), KDL::sqr(), KDL::sqrt(), KDL::tan(), KDL::tanh(), KDL::Rall1d< T, V, S >::Value(), and KDL::Rall1d< T, V, S >::value().

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The documentation for this class was generated from the following file:

• rall1d.h