22 #ifndef KDL_JNTSPACEINERTIAMATRIX_HPP
23 #define KDL_JNTSPACEINERTIAMATRIX_HPP
34 class JntSpaceInertiaMatrix;
35 bool Equal(
const JntSpaceInertiaMatrix& src1,
const JntSpaceInertiaMatrix& src2,
double eps=epsilon);
74 class JntSpaceInertiaMatrix
86 JntSpaceInertiaMatrix();
97 explicit JntSpaceInertiaMatrix(
int size);
101 JntSpaceInertiaMatrix(
const JntSpaceInertiaMatrix& arg);
102 ~JntSpaceInertiaMatrix();
112 void resize(
unsigned int newSize);
114 JntSpaceInertiaMatrix& operator = (
const JntSpaceInertiaMatrix& arg);
122 double operator()(
unsigned int i,
unsigned int j)
const;
130 double& operator()(
unsigned int i,
unsigned int j);
135 unsigned int rows()
const;
139 unsigned int columns()
const;
150 friend void Add(
const JntSpaceInertiaMatrix& src1,
const JntSpaceInertiaMatrix& src2,JntSpaceInertiaMatrix& dest);
160 friend void Subtract(
const JntSpaceInertiaMatrix& src1,
const JntSpaceInertiaMatrix& src2,JntSpaceInertiaMatrix& dest);
170 friend void Multiply(
const JntSpaceInertiaMatrix& src,
const double& factor,JntSpaceInertiaMatrix& dest);
180 friend void Divide(
const JntSpaceInertiaMatrix& src,
const double& factor,JntSpaceInertiaMatrix& dest);
193 friend void Multiply(
const JntSpaceInertiaMatrix& src,
const JntArray& vec, JntArray& dest);
199 friend void SetToZero(JntSpaceInertiaMatrix& matrix);
210 friend bool Equal(
const JntSpaceInertiaMatrix& src1,
const JntSpaceInertiaMatrix& src2,
double eps);
212 friend bool operator==(
const JntSpaceInertiaMatrix& src1,
const JntSpaceInertiaMatrix& src2);
216 bool operator==(
const JntSpaceInertiaMatrix& src1,
const JntSpaceInertiaMatrix& src2);
void Subtract(const JntArray &src1, const JntArray &src2, JntArray &dest)
Definition: jntarray.cpp:87
void Divide(const JntArray &src, const double &factor, JntArray &dest)
Definition: jntarray.cpp:97
void Add(const JntArray &src1, const JntArray &src2, JntArray &dest)
Definition: jntarray.cpp:82
IMETHOD void SetToZero(Vector &v)
Definition: frames.hpp:1062
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
Definition: frameacc.hpp:394
Definition: articulatedbodyinertia.cpp:28
bool operator==(const Rotation &a, const Rotation &b)
Definition: frames.cpp:388
void Multiply(const JntArray &src, const double &factor, JntArray &dest)
Definition: jntarray.cpp:92