22 #ifndef KDL_JNTARRAY_HPP
23 #define KDL_JNTARRAY_HPP
92 explicit JntArray(
unsigned int size);
96 JntArray(
const JntArray& arg);
107 void resize(
unsigned int newSize);
109 JntArray& operator = (
const JntArray& arg);
118 double operator()(
unsigned int i,
unsigned int j=0)
const;
127 double& operator()(
unsigned int i,
unsigned int j=0);
132 unsigned int rows()
const;
136 unsigned int columns()
const;
138 friend void Add(
const JntArray& src1,
const JntArray& src2,JntArray& dest);
139 friend void Subtract(
const JntArray& src1,
const JntArray& src2,JntArray& dest);
140 friend void Multiply(
const JntArray& src,
const double& factor,JntArray& dest);
141 friend void Divide(
const JntArray& src,
const double& factor,JntArray& dest);
142 friend void MultiplyJacobian(
const Jacobian& jac,
const JntArray& src, Twist& dest);
144 friend bool Equal(
const JntArray& src1,
const JntArray& src2,
double eps);
146 friend bool operator==(
const JntArray& src1,
const JntArray& src2);
150 bool operator==(
const JntArray& src1,
const JntArray& src2);
162 void Add(
const JntArray& src1,
const JntArray& src2,JntArray& dest);
172 void Subtract(
const JntArray& src1,
const JntArray& src2,JntArray& dest);
182 void Multiply(
const JntArray& src,
const double& factor,JntArray& dest);
192 void Divide(
const JntArray& src,
const double& factor,JntArray& dest);
205 void MultiplyJacobian(
const Jacobian& jac,
const JntArray& src, Twist& dest);
222 bool Equal(
const JntArray& src1,
const JntArray& src2,
double eps=epsilon);
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 MultiplyJacobian(const Jacobian &jac, const JntArray &src, Twist &dest)
Definition: jntarray.cpp:102
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