Blender V2.61 - r43446
Classes | Typedefs | Functions | Variables

KDL Namespace Reference

Classes

class  Chain
 This class encapsulates a serial kinematic interconnection structure. It is build out of segments. More...
class  ChainFkSolverPos
 This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain. More...
class  ChainFkSolverVel
 This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain. More...
class  ChainFkSolverAcc
 This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain. More...
class  ChainFkSolverPos_recursive
class  ChainJntToJacSolver
 Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers. It should not be used outside of KDL. More...
class  VectorAcc
class  RotationAcc
class  FrameAcc
class  TwistAcc
class  Vector
 A concrete implementation of a 3 dimensional vector class. More...
class  Rotation
 represents rotations in 3 dimensional space. More...
class  Frame
 represents a frame transformation in 3D space (rotation + translation) More...
class  Twist
 represents both translational and rotational velocities. More...
class  Wrench
 represents both translational and rotational acceleration. More...
class  Vector2
 2D version of Vector More...
class  Rotation2
class  Frame2
class  VectorVel
class  RotationVel
class  FrameVel
class  TwistVel
class  Inertia
class  Jacobian
class  JntArray
 This class represents an fixed size array containing joint values of a KDL::Chain. More...
class  JntArrayAcc
class  JntArrayVel
class  Joint
 This class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties. More...
class  Segment
 This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and an inertia) with a joint and with "handles", root and tip to connect to other segments. More...
class  TreeElement
class  Tree
 This class encapsulates a tree kinematic interconnection structure. It is build out of segments. More...
class  TreeFkSolverPos
 This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree. More...
class  TreeFkSolverPos_recursive
class  TreeJntToJacSolver
class  Error
class  Error_IO
class  Error_BasicIO
class  Error_BasicIO_File
class  Error_BasicIO_Exp_Delim
class  Error_BasicIO_Not_A_Space
class  Error_BasicIO_Unexpected
class  Error_BasicIO_ToBig
class  Error_BasicIO_Not_Opened
class  Error_FrameIO
class  Error_Frame_Vector_Unexpected_id
class  Error_Frame_Frame_Unexpected_id
class  Error_Frame_Rotation_Unexpected_id
class  Error_ChainIO
class  Error_Chain_Unexpected_id
class  Error_RedundancyIO
 Error_Redundancy indicates an error that occured during solving for redundancy. More...
class  Error_Redundancy_Illegal_Resolutiontype
class  Error_Redundancy
class  Error_Redundancy_Unavoidable
class  Error_Redundancy_Low_Manip
class  Error_MotionIO
class  Error_MotionIO_Unexpected_MotProf
class  Error_MotionIO_Unexpected_Traj
class  Error_MotionPlanning
class  Error_MotionPlanning_Circle_ToSmall
class  Error_MotionPlanning_Circle_No_Plane
class  Error_MotionPlanning_Incompatible
class  Error_MotionPlanning_Not_Feasible
class  Error_MotionPlanning_Not_Applicable
class  Error_Integrator
 Abstract subclass of all errors that can be thrown by Adaptive_Integrator. More...
class  Error_Stepsize_Underflow
 Error_Stepsize_Underflow is thrown if the stepsize becomes to small. More...
class  Error_To_Many_Steps
class  Error_Stepsize_To_Small
 Error_Stepsize_To_Small is thrown if the stepsize becomes to small. More...
class  Error_Criterium
class  Error_Criterium_Unexpected_id
class  Error_Limits
class  Error_Limits_Unexpected_id
class  Error_Not_Implemented
class  Rall1d
class  Rall2d
class  TI
class  TI< double >
class  TI< int >

Typedefs

typedef Rall2d< double, double,
double > 		doubleAcc
typedef Rall1d< double > doubleVel
typedef std::map< std::string,
TreeElement, std::less
< std::string >
, Eigen::aligned_allocator
< std::pair< std::string,
TreeElement > > > 		SegmentMap
typedef std::stack< std::string > ErrorStack

Functions

VectorAcc operator+ (const VectorAcc &r1, const VectorAcc &r2)
VectorAcc operator- (const VectorAcc &r1, const VectorAcc &r2)
VectorAcc operator+ (const Vector &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 Vector &r2)
VectorAcc operator- (const VectorAcc &r)
VectorAcc operator* (const VectorAcc &r1, const VectorAcc &r2)
VectorAcc operator* (const VectorAcc &r1, const Vector &r2)
VectorAcc operator* (const Vector &r1, const VectorAcc &r2)
VectorAcc operator* (double r1, const VectorAcc &r2)
VectorAcc operator* (const VectorAcc &r1, double r2)
VectorAcc operator* (const doubleAcc &r1, const VectorAcc &r2)
VectorAcc operator* (const VectorAcc &r2, const doubleAcc &r1)
doubleAcc dot (const VectorAcc &lhs, const VectorAcc &rhs)
doubleAcc dot (const VectorAcc &lhs, const Vector &rhs)
doubleAcc dot (const Vector &lhs, const VectorAcc &rhs)
bool Equal (const VectorAcc &r1, const VectorAcc &r2, double eps)
bool Equal (const Vector &r1, const VectorAcc &r2, double eps)
bool Equal (const VectorAcc &r1, const Vector &r2, double eps)
VectorAcc operator/ (const VectorAcc &r1, double r2)
VectorAcc operator/ (const VectorAcc &r2, const doubleAcc &r1)
RotationAcc operator* (const RotationAcc &r1, const RotationAcc &r2)
RotationAcc operator* (const Rotation &r1, const RotationAcc &r2)
RotationAcc operator* (const RotationAcc &r1, const Rotation &r2)
VectorAcc operator* (const Rotation &R, const VectorAcc &x)
bool Equal (const RotationAcc &r1, const RotationAcc &r2, double eps)
bool Equal (const Rotation &r1, const RotationAcc &r2, double eps)
bool Equal (const RotationAcc &r1, const Rotation &r2, double eps)
FrameAcc operator* (const FrameAcc &lhs, const FrameAcc &rhs)
FrameAcc operator* (const FrameAcc &lhs, const Frame &rhs)
FrameAcc operator* (const Frame &lhs, const FrameAcc &rhs)
bool Equal (const FrameAcc &r1, const FrameAcc &r2, double eps)
bool Equal (const Frame &r1, const FrameAcc &r2, double eps)
bool Equal (const FrameAcc &r1, const Frame &r2, double eps)
TwistAcc operator* (const TwistAcc &lhs, double rhs)
TwistAcc operator* (double lhs, const TwistAcc &rhs)
TwistAcc operator/ (const TwistAcc &lhs, double rhs)
TwistAcc operator* (const TwistAcc &lhs, const doubleAcc &rhs)
TwistAcc operator* (const doubleAcc &lhs, const TwistAcc &rhs)
TwistAcc operator/ (const TwistAcc &lhs, const doubleAcc &rhs)
TwistAcc operator+ (const TwistAcc &lhs, const TwistAcc &rhs)
TwistAcc operator- (const TwistAcc &lhs, const TwistAcc &rhs)
TwistAcc operator- (const TwistAcc &arg)
bool Equal (const TwistAcc &a, const TwistAcc &b, double eps)
bool Equal (const Twist &a, const TwistAcc &b, double eps)
bool Equal (const TwistAcc &a, const Twist &b, double eps)
bool Equal (const Rotation &a, const Rotation &b, double eps)
Rotation operator* (const Rotation &lhs, const Rotation &rhs)
bool operator== (const Rotation &a, const Rotation &b)
IMETHOD Vector diff (const Vector &a, const Vector &b, double dt=1)
IMETHOD Vector diff (const Rotation &R_a_b1, const Rotation &R_a_b2, double dt=1)
IMETHOD Twist diff (const Frame &F_a_b1, const Frame &F_a_b2, double dt=1)
IMETHOD Twist diff (const Twist &a, const Twist &b, double dt=1)
IMETHOD Wrench diff (const Wrench &W_a_p1, const Wrench &W_a_p2, double dt=1)
IMETHOD Vector addDelta (const Vector &a, const Vector &da, double dt=1)
IMETHOD Rotation addDelta (const Rotation &a, const Vector &da, double dt=1)
IMETHOD Frame addDelta (const Frame &a, const Twist &da, double dt=1)
IMETHOD Twist addDelta (const Twist &a, const Twist &da, double dt=1)
IMETHOD Wrench addDelta (const Wrench &a, const Wrench &da, double dt=1)
D const Vector &v os<< "["<< std::setw(KDL_FRAME_WIDTH)<< v(0)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v(1)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v(2)<< "]";return os;}std::ostream &operator<< (std::ostream &os, const Twist &v){os<< "["<< std::setw(KDL_FRAME_WIDTH)<< v.vel(0)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v.vel(1)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v.vel(2)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v.rot(0)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v.rot(1)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v.rot(2)<< "]";return os;}std::ostream &operator<< (std::ostream &os, const Wrench &v){os<< "["<< std::setw(KDL_FRAME_WIDTH)<< v.force(0)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v.force(1)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v.force(2)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v.torque(0)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v.torque(1)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v.torque(2)<< "]";return os;}std::ostream &operator<< (std::ostream &os, const Rotation &R){#ifdef KDL_ROTATION_PROPERTIES_RPY double r, p, y;R.GetRPY(r, p, y);os<< "[RPY]"<< endl;os<< "[";os<< std::setw(KDL_FRAME_WIDTH)<< r<< ",";os<< std::setw(KDL_FRAME_WIDTH)<< p<< ",";os<< std::setw(KDL_FRAME_WIDTH)<< y<< "]";#else#ifdef KDL_ROTATION_PROPERTIES_EULER double z, y, x;R.GetEulerZYX(z, y, x);os<< "[EULERZYX]"<< endl;os<< "[";os<< std::setw(KDL_FRAME_WIDTH)<< z<< ",";os<< std::setw(KDL_FRAME_WIDTH)<< y<< ",";os<< std::setw(KDL_FRAME_WIDTH)<< x<< "]";#else os<< "[";for(int i=0;i<=2;i++){os<< std::setw(KDL_FRAME_WIDTH)<< R(i, 0)<< ","<< std::setw(KDL_FRAME_WIDTH)<< R(i, 1)<< ","<< std::setw(KDL_FRAME_WIDTH)<< R(i, 2);if(i< 2) os<< ";"<< std::endl<< " ";else os<< "]";}#endif#endif return os;}std::ostream &operator<< (std::ostream &os, const Frame &T){os<< "["<< T.M<< std::endl<< T.p<< "]";return os;}std::ostream &operator<< (std::ostream &os, const Vector2 &v){os<< "["<< std::setw(KDL_FRAME_WIDTH)<< v(0)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v(1)<< "]";return os;}std::ostream &operator<< (std::ostream &os, const Rotation2 &R){os<< "["<< R.GetRot()*rad2deg<< "]";return os;}std::ostream &operator<< (std::ostream &os, const Frame2 &T){os<< T.M<< T.p;return os;}std::istream &operator> > (std::istream &is, Vector &v)
std::istream & operator>> (std::istream &is, Twist &v)
std::istream & operator>> (std::istream &is, Wrench &v)
std::istream & operator>> (std::istream &is, Rotation &r)
std::istream & operator>> (std::istream &is, Frame &T)
std::istream & operator>> (std::istream &is, Vector2 &v)
std::istream & operator>> (std::istream &is, Rotation2 &r)
std::istream & operator>> (std::istream &is, Frame2 &T)
std::ostream & operator<< (std::ostream &os, const Vector &v)
std::ostream & operator<< (std::ostream &os, const Rotation &R)
std::ostream & operator<< (std::ostream &os, const Frame &T)
std::ostream & operator<< (std::ostream &os, const Twist &T)
std::ostream & operator<< (std::ostream &os, const Wrench &T)
std::ostream & operator<< (std::ostream &os, const Vector2 &v)
std::ostream & operator<< (std::ostream &os, const Rotation2 &R)
std::ostream & operator<< (std::ostream &os, const Frame2 &T)
std::istream & operator>> (std::istream &is, Vector &v)
IMETHOD doubleVel diff (const doubleVel &a, const doubleVel &b, double dt=1.0)
IMETHOD doubleVel addDelta (const doubleVel &a, const doubleVel &da, double dt=1.0)
IMETHOD void random (doubleVel &F)
IMETHOD void posrandom (doubleVel &F)
IMETHOD VectorVel diff (const VectorVel &a, const VectorVel &b, double dt=1.0)
IMETHOD VectorVel addDelta (const VectorVel &a, const VectorVel &da, double dt=1.0)
IMETHOD VectorVel diff (const RotationVel &a, const RotationVel &b, double dt=1.0)
IMETHOD RotationVel addDelta (const RotationVel &a, const VectorVel &da, double dt=1.0)
IMETHOD TwistVel diff (const FrameVel &a, const FrameVel &b, double dt=1.0)
IMETHOD FrameVel addDelta (const FrameVel &a, const TwistVel &da, double dt=1.0)
IMETHOD void random (VectorVel &a)
IMETHOD void random (TwistVel &a)
IMETHOD void random (RotationVel &R)
IMETHOD void random (FrameVel &F)
IMETHOD void posrandom (VectorVel &a)
IMETHOD void posrandom (TwistVel &a)
IMETHOD void posrandom (RotationVel &R)
IMETHOD void posrandom (FrameVel &F)
FrameVel operator* (const FrameVel &lhs, const FrameVel &rhs)
FrameVel operator* (const FrameVel &lhs, const Frame &rhs)
FrameVel operator* (const Frame &lhs, const FrameVel &rhs)
bool Equal (const FrameVel &r1, const FrameVel &r2, double eps)
bool Equal (const Frame &r1, const FrameVel &r2, double eps)
bool Equal (const FrameVel &r1, const Frame &r2, double eps)
RotationVel operator* (const RotationVel &r1, const RotationVel &r2)
RotationVel operator* (const Rotation &r1, const RotationVel &r2)
RotationVel operator* (const RotationVel &r1, const Rotation &r2)
VectorVel operator+ (const VectorVel &r1, const VectorVel &r2)
VectorVel operator- (const VectorVel &r1, const VectorVel &r2)
VectorVel operator+ (const VectorVel &r1, const Vector &r2)
VectorVel operator- (const VectorVel &r1, const Vector &r2)
VectorVel operator+ (const Vector &r1, const VectorVel &r2)
VectorVel operator- (const Vector &r1, const VectorVel &r2)
VectorVel operator- (const VectorVel &r)
void SetToZero (VectorVel &v)
VectorVel operator* (const VectorVel &r1, const VectorVel &r2)
VectorVel operator* (const VectorVel &r1, const Vector &r2)
VectorVel operator* (const Vector &r1, const VectorVel &r2)
VectorVel operator* (double r1, const VectorVel &r2)
VectorVel operator* (const VectorVel &r1, double r2)
VectorVel operator* (const doubleVel &r1, const VectorVel &r2)
VectorVel operator* (const VectorVel &r2, const doubleVel &r1)
VectorVel operator/ (const VectorVel &r1, double r2)
VectorVel operator/ (const VectorVel &r2, const doubleVel &r1)
VectorVel operator* (const Rotation &R, const VectorVel &x)
bool Equal (const VectorVel &r1, const VectorVel &r2, double eps)
bool Equal (const Vector &r1, const VectorVel &r2, double eps)
bool Equal (const VectorVel &r1, const Vector &r2, double eps)
bool Equal (const RotationVel &r1, const RotationVel &r2, double eps)
bool Equal (const Rotation &r1, const RotationVel &r2, double eps)
bool Equal (const RotationVel &r1, const Rotation &r2, double eps)
bool Equal (const TwistVel &a, const TwistVel &b, double eps)
bool Equal (const Twist &a, const TwistVel &b, double eps)
bool Equal (const TwistVel &a, const Twist &b, double eps)
IMETHOD doubleVel dot (const VectorVel &lhs, const VectorVel &rhs)
IMETHOD doubleVel dot (const VectorVel &lhs, const Vector &rhs)
IMETHOD doubleVel dot (const Vector &lhs, const VectorVel &rhs)
TwistVel operator* (const TwistVel &lhs, double rhs)
TwistVel operator* (double lhs, const TwistVel &rhs)
TwistVel operator/ (const TwistVel &lhs, double rhs)
TwistVel operator* (const TwistVel &lhs, const doubleVel &rhs)
TwistVel operator* (const doubleVel &lhs, const TwistVel &rhs)
TwistVel operator/ (const TwistVel &lhs, const doubleVel &rhs)
TwistVel operator+ (const TwistVel &lhs, const TwistVel &rhs)
TwistVel operator- (const TwistVel &lhs, const TwistVel &rhs)
TwistVel operator- (const TwistVel &arg)
void SetToZero (TwistVel &v)
void SetToZero (Jacobian &jac)
void changeRefPoint (const Jacobian &src1, const Vector &base_AB, Jacobian &dest)
void changeBase (const Jacobian &src1, const Rotation &rot, Jacobian &dest)
void changeRefFrame (const Jacobian &src1, const Frame &frame, Jacobian &dest)
bool Equal (const Jacobian &a, const Jacobian &b, double eps)
void Add (const JntArray &src1, const JntArray &src2, JntArray &dest)
void Subtract (const JntArray &src1, const JntArray &src2, JntArray &dest)
void Multiply (const JntArray &src, const double &factor, JntArray &dest)
void Divide (const JntArray &src, const double &factor, JntArray &dest)
void MultiplyJacobian (const Jacobian &jac, const JntArray &src, Twist &dest)
void SetToZero (JntArray &array)
bool Equal (const JntArray &src1, const JntArray &src2, double eps)
bool operator== (const JntArray &src1, const JntArray &src2)
void Add (const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
void Add (const JntArrayAcc &src1, const JntArrayVel &src2, JntArrayAcc &dest)
void Add (const JntArrayAcc &src1, const JntArray &src2, JntArrayAcc &dest)
void Subtract (const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
void Subtract (const JntArrayAcc &src1, const JntArrayVel &src2, JntArrayAcc &dest)
void Subtract (const JntArrayAcc &src1, const JntArray &src2, JntArrayAcc &dest)
void Multiply (const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
void Multiply (const JntArrayAcc &src, const doubleVel &factor, JntArrayAcc &dest)
void Multiply (const JntArrayAcc &src, const doubleAcc &factor, JntArrayAcc &dest)
void Divide (const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
void Divide (const JntArrayAcc &src, const doubleVel &factor, JntArrayAcc &dest)
void Divide (const JntArrayAcc &src, const doubleAcc &factor, JntArrayAcc &dest)
void SetToZero (JntArrayAcc &array)
bool Equal (const JntArrayAcc &src1, const JntArrayAcc &src2, double eps)
void Add (const JntArrayVel &src1, const JntArrayVel &src2, JntArrayVel &dest)
void Add (const JntArrayVel &src1, const JntArray &src2, JntArrayVel &dest)
void Subtract (const JntArrayVel &src1, const JntArrayVel &src2, JntArrayVel &dest)
void Subtract (const JntArrayVel &src1, const JntArray &src2, JntArrayVel &dest)
void Multiply (const JntArrayVel &src, const double &factor, JntArrayVel &dest)
void Multiply (const JntArrayVel &src, const doubleVel &factor, JntArrayVel &dest)
void Divide (const JntArrayVel &src, const double &factor, JntArrayVel &dest)
void Divide (const JntArrayVel &src, const doubleVel &factor, JntArrayVel &dest)
void SetToZero (JntArrayVel &array)
bool Equal (const JntArrayVel &src1, const JntArrayVel &src2, double eps)
std::ostream & operator<< (std::ostream &os, const Joint &joint)
std::istream & operator>> (std::istream &is, Joint &joint)
std::ostream & operator<< (std::ostream &os, const Segment &segment)
std::istream & operator>> (std::istream &is, Segment &segment)
std::ostream & operator<< (std::ostream &os, const Chain &chain)
std::istream & operator>> (std::istream &is, Chain &chain)
std::ostream & operator<< (std::ostream &os, const Tree &tree)
std::ostream & operator<< (std::ostream &os, SegmentMap::const_iterator root)
std::istream & operator>> (std::istream &is, Tree &tree)
std::ostream & operator<< (std::ostream &os, const JntArray &array)
std::istream & operator>> (std::istream &is, JntArray &array)
std::ostream & operator<< (std::ostream &os, const Jacobian &jac)
std::istream & operator>> (std::istream &is, Jacobian &jac)
template<typename T >
std::ostream & operator<< (std::ostream &os, const std::vector< T > &vec)
template<typename T >
std::istream & operator>> (std::istream &is, std::vector< T > &vec)
void IOTrace (const std::string &description)
void IOTracePop ()
 pops a description of the IO-stack
void IOTraceOutput (std::ostream &os)
 outputs the IO-stack to a stream to provide a better errormessage.
void IOTracePopStr (char *buffer, int size)
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)
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)
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)
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)
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* (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 > &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 > &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 > &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 > &v, S s)
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 Rall1d< T, V, S > log (const Rall1d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S > sin (const Rall1d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S > cos (const Rall1d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S > tan (const Rall1d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S > sinh (const Rall1d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S > cosh (const Rall1d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S > sqr (const Rall1d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S > pow (const Rall1d< T, V, S > &arg, double m)
template<class T , class V , class S >
INLINE Rall1d< T, V, S > sqrt (const Rall1d< T, V, S > &arg)
template<class T , class V , class S >
INLINE Rall1d< T, V, S > atan (const Rall1d< 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)
template<class T , class V , class S >
INLINE Rall1d< T, V, S > asin (const Rall1d< T, V, S > &x)
template<class T , class V , class S >
INLINE Rall1d< T, V, S > acos (const Rall1d< T, V, S > &x)
template<class T , class V , class S >
INLINE Rall1d< T, V, S > abs (const Rall1d< T, V, S > &x)
template<class T , class V , class S >
INLINE S Norm (const Rall1d< T, V, S > &value)
template<class T , class V , class S >
INLINE Rall1d< T, V, S > tanh (const Rall1d< T, V, S > &arg)
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)
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)
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)
template<class T , class V , class S >
INLINE void SetToZero (Rall1d< T, V, S > &value)
template<class T , class V , class S >
INLINE void SetToIdentity (Rall1d< T, V, S > &value)
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)
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 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 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 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 Rall2d< T, V, S > operator- (const Rall2d< T, V, S > &arg)
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 > &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 > &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 > &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 > &v, S s)
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 Rall2d< T, V, S > log (const Rall2d< T, V, S > &arg)
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 Rall2d< T, V, S > cos (const Rall2d< T, V, S > &arg)
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 Rall2d< T, V, S > sinh (const Rall2d< T, V, S > &arg)
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 Rall2d< T, V, S > tanh (const Rall2d< T, V, S > &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 Rall2d< T, V, S > pow (const Rall2d< T, V, S > &arg, double m)
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 Rall2d< T, V, S > asin (const Rall2d< T, V, S > &arg)
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 Rall2d< T, V, S > atan (const Rall2d< T, V, S > &x)
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 Rall2d< T, V, S > abs (const Rall2d< T, V, S > &x)
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 S Norm (const Rall2d< T, V, S > &value)
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 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 SetToZero (Rall2d< T, V, S > &value)
template<class T , class V , class S >
INLINE void SetToIdentity (Rall2d< T, V, S > &value)
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<typename Scalar >
Scalar PYTHAG (Scalar a, Scalar b)
template<typename Scalar >
Scalar SIGN (Scalar a, Scalar b)
template<typename MatrixA , typename MatrixUV , typename VectorS >
int svd_eigen_HH (const Eigen::MatrixBase< MatrixA > &A, Eigen::MatrixBase< MatrixUV > &U, Eigen::MatrixBase< VectorS > &S, Eigen::MatrixBase< MatrixUV > &V, Eigen::MatrixBase< VectorS > &tmp, int maxiter=150)
double sin (double a)
double cos (double a)
double exp (double a)
double log (double a)
double tan (double a)
double cosh (double a)
double sinh (double a)
double sqrt (double a)
double atan (double a)
double acos (double a)
double asin (double a)
double tanh (double a)
double pow (double a, double b)
double atan2 (double a, double b)
double max (double a, double b)
double min (double a, double b)
double LinComb (double alfa, double a, double beta, double b)
void LinCombR (double alfa, double a, double beta, double b, double &result)
void SetToZero (double &arg)
 to uniformly set double, RNDouble,Vector,... objects to zero in template-classes
void SetToIdentity (double &arg)
 to uniformly set double, RNDouble,Vector,... objects to the identity element in template-classes
double sign (double arg)
double sqr (double arg)
double Norm (double arg)
bool Equal (double a, double b, double eps=epsilon)
void random (double &a)
void posrandom (double &a)
double diff (double a, double b, double dt)
double addDelta (double a, double da, double dt)
void _check_istream (std::istream &is)
int _EatUntilEndOfLine (std::istream &is, int *countp=NULL)
int _EatUntilEndOfComment (std::istream &is, int *countp=NULL)
int _EatSpace (std::istream &is, int *countp=NULL)
void Eat (std::istream &is, int delim)
void EatEnd (std::istream &is, int delim)
char Upper (char ch)
void Eat (std::istream &is, const char *descript)
void EatWord (std::istream &is, const char *delim, char *storage, int maxsize)

Variables

D __pad0__
ErrorStack errorstack
int STREAMBUFFERSIZE = 10000
int MAXLENFILENAME = 255
 maximal length of a file name
const double PI = 3.1415926535897932384626433832795
 the value of pi
const double deg2rad = 0.01745329251994329576923690768488
 the value pi/180
const double rad2deg = 57.2957795130823208767981548141052
 the value 180/pi
double epsilon = 0.000001
 default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001.
double epsilon2 = 0.000001*0.000001
 power or 2 of epsilon
int VSIZE
 the number of derivatives used in the RN-... objects.

Typedef Documentation

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

Definition at line 39 of file frameacc.hpp.

typedef Rall1d<double> KDL::doubleVel

Definition at line 35 of file framevel.hpp.

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

Definition at line 29 of file error_stack.cpp.

typedef std::map<std::string,TreeElement, std::less<std::string>, Eigen::aligned_allocator<std::pair<std::string, TreeElement> > > KDL::SegmentMap

Definition at line 37 of file tree.hpp.

Function Documentation

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

checks validity of basic io of is

Definition at line 34 of file utility_io.cpp.

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

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

Definition at line 78 of file utility_io.cpp.

References _check_istream(), _EatUntilEndOfComment(), _EatUntilEndOfLine(), and NULL.

Referenced by Eat(), EatEnd(), and EatWord().

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

Definition at line 56 of file utility_io.cpp.

References _check_istream(), and NULL.

Referenced by _EatSpace().

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

Definition at line 42 of file utility_io.cpp.

References _check_istream(), and NULL.

Referenced by _EatSpace().

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::abs ( const Rall1d< T, V, S > &  x)

Definition at line 408 of file rall1d.h.

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

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::abs ( const Rall2d< T, V, S > &  x)

Definition at line 464 of file rall2d.h.

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

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

Definition at line 112 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)

Definition at line 428 of file rall2d.h.

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

Definition at line 400 of file rall1d.h.

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

Referenced by acos(), KDL::Rotation::GetRotAngle(), and KDL::Rotation::GetXZRot().

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

Definition at line 68 of file jntarrayacc.cpp.

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

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

Definition at line 62 of file jntarrayacc.cpp.

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

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

Definition at line 74 of file jntarrayacc.cpp.

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

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

Definition at line 54 of file jntarrayvel.cpp.

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

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

Definition at line 59 of file jntarrayvel.cpp.

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

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:
src1A
src2B
destC

Definition at line 98 of file jntarray.cpp.

References assert, and i.

Referenced by Add(), Divide(), and Multiply().

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

Definition at line 285 of file utility.h.

IMETHOD Vector KDL::addDelta ( const Vector &  a,
const Vector &  da,
double  dt = 1 
)

Referenced by addDelta(), and addDelta().

IMETHOD doubleVel KDL::addDelta ( const doubleVel &  a,
const doubleVel &  da,
double  dt = 1.0 
)

Definition at line 41 of file framevel.hpp.

IMETHOD RotationVel KDL::addDelta ( const RotationVel &  a,
const VectorVel &  da,
double  dt = 1.0 
)

Definition at line 319 of file framevel.hpp.

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

IMETHOD VectorVel KDL::addDelta ( const VectorVel &  a,
const VectorVel &  da,
double  dt = 1.0 
)

Definition at line 312 of file framevel.hpp.

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

IMETHOD FrameVel KDL::addDelta ( const FrameVel &  a,
const TwistVel &  da,
double  dt = 1.0 
)

Definition at line 327 of file framevel.hpp.

IMETHOD Rotation KDL::addDelta ( const Rotation &  a,
const Vector &  da,
double  dt = 1 
)
IMETHOD Frame KDL::addDelta ( const Frame &  a,
const Twist &  da,
double  dt = 1 
)
IMETHOD Twist KDL::addDelta ( const Twist &  a,
const Twist &  da,
double  dt = 1 
)
IMETHOD Wrench KDL::addDelta ( const Wrench &  a,
const Wrench &  da,
double  dt = 1 
)
template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::asin ( const Rall2d< T, V, S > &  arg)

Definition at line 416 of file rall2d.h.

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

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

Definition at line 115 of file utility.h.

References asin().

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::asin ( const Rall1d< T, V, S > &  x)

Definition at line 392 of file rall1d.h.

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

Referenced by asin(), check_zone(), MeanValueMeshCoords::computeWeights(), ntlMatrix4x4< Scalar >::decompose(), do_math(), node_shader_exec_math(), saasin(), and valuefn().

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::atan ( const Rall2d< T, V, S > &  x)

Definition at line 441 of file rall2d.h.

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

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

Definition at line 109 of file utility.h.

References atan().

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::atan ( const Rall1d< T, V, S > &  x)

Definition at line 376 of file rall1d.h.

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

Referenced by atan(), blender_camera_sync(), do_math(), node_shader_exec_math(), panorama_pixel_rot(), speedvector_project(), and valuefn().

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 
)

Definition at line 453 of file rall2d.h.

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

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

Definition at line 124 of file utility.h.

References atan2().

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 
)

Definition at line 430 of file rall1d.h.

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

Referenced by atan2(), b_bone_spline_setup(), BKE_text_to_curve(), blend(), calculate_stabdata(), ComputeTwist(), ntlMatrix4x4< Scalar >::decompose(), DirectionToThetaPhi(), do_chroma_key(), EulerAngleFromMatrix(), fix_bonelist_roll(), KX_Dome::FlattenDome(), KX_Dome::FlattenPanorama(), KDL::Rotation::GetEulerZYZ(), KDL::Rotation2::GetRot(), KDL::Rotation::GetRot(), KDL::Rotation::GetRPY(), join_armature_exec(), map_to_tube(), mat3_to_eul2(), mat3_to_eulo2(), mat3_to_quat_is_ok(), mat3_to_vec_roll(), Mat3ToEulOld(), paint_draw_cursor(), radial_control_modal(), RE_inithalo(), RE_inithalo_particle(), RotationBetween(), KX_ObstacleSimulationTOI_rays::sampleRVO(), sculpt_update_cache_variants(), MT_ExpMap::setRotation(), shadeHaloFloat(), svm_gradient(), tri_to_quat(), and vec_to_quat().

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

Definition at line 95 of file jacobian.cpp.

References assert, i, and KDL::Jacobian::twists.

Referenced by KDL::ChainJntToJacSolver::JntToJac(), and KDL::TreeJntToJacSolver::JntToJac().

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

Definition at line 103 of file jacobian.cpp.

References assert, i, and KDL::Jacobian::twists.

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

Definition at line 87 of file jacobian.cpp.

References assert, i, KDL::Twist::RefPoint(), and KDL::Jacobian::twists.

Referenced by iTaSC::Distance::updateJacobian().

double KDL::cos ( double  a) [inline]

Definition at line 88 of file utility.h.

References cos().

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::cos ( const Rall1d< T, V, S > &  arg)

Definition at line 320 of file rall1d.h.

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

Referenced by asin(), base_callback(), cos(), KDL::Frame::DH(), KDL::Frame::DH_Craig1989(), KDL::RotationVel::DoRotX(), KDL::RotationVel::DoRotY(), KDL::RotationVel::DoRotZ(), KDL::Rotation::EulerZYZ(), KDL::RotationVel::Rot(), KDL::Rotation::Rot(), Rot(), KDL::Rotation::Rot2(), KDL::RotationVel::RotX(), KDL::RotationVel::RotY(), KDL::RotationVel::RotZ(), KDL::Rotation::RPY(), KDL::Rotation2::SetRot(), sin(), and tan().

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::cos ( const Rall2d< T, V, S > &  arg)

Definition at line 345 of file rall2d.h.

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

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::cosh ( const Rall2d< T, V, S > &  arg)

Definition at line 369 of file rall2d.h.

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

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

Definition at line 100 of file utility.h.

References cosh().

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::cosh ( const Rall1d< T, V, S > &  arg)

Definition at line 344 of file rall1d.h.

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

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

IMETHOD doubleVel KDL::diff ( const doubleVel &  a,
const doubleVel &  b,
double  dt = 1.0 
)

Definition at line 37 of file framevel.hpp.

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

Definition at line 279 of file utility.h.

IMETHOD VectorVel KDL::diff ( const RotationVel &  a,
const RotationVel &  b,
double  dt = 1.0 
)

Definition at line 315 of file framevel.hpp.

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

IMETHOD VectorVel KDL::diff ( const VectorVel &  a,
const VectorVel &  b,
double  dt = 1.0 
)

Definition at line 308 of file framevel.hpp.

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

IMETHOD TwistVel KDL::diff ( const FrameVel &  a,
const FrameVel &  b,
double  dt = 1.0 
)

Definition at line 323 of file framevel.hpp.

IMETHOD Twist KDL::diff ( const Frame &  F_a_b1,
const Frame &  F_a_b2,
double  dt = 1 
)
IMETHOD Wrench KDL::diff ( const Wrench &  W_a_p1,
const Wrench &  W_a_p2,
double  dt = 1 
)
IMETHOD Twist KDL::diff ( const Twist &  a,
const Twist &  b,
double  dt = 1 
)
IMETHOD Vector KDL::diff ( const Vector &  a,
const Vector &  b,
double  dt = 1 
)

Referenced by closestPtPtSeg(), GIM_AABB::collide_triangle_exact(), cullPoints2(), diff(), diff(), Equal(), EXPP_FloatsAreEqual(), btQuaternion::farthest(), fcm_envelope_evaluate(), fix_connected_bone(), iTaSC::getMaxEndEffectorChange(), GPU_enable_material(), GPU_update_image_time(), measure_facepair(), mirror_bezier_cframe(), mirror_bezier_marker(), mirror_bezier_value(), mirror_bezier_xaxis(), mirror_bezier_yaxis(), multiple_scattering_diffusion(), btQuaternion::nearest(), nearest_point_in_tri_surface(), p_smooth(), btSphereSphereCollisionAlgorithm::processCollision(), ray_trace(), SegmentSqrDistance(), ui_draw_but_NORMAL(), UI_view2d_curRect_validate_resize(), GHOST_NDOFManager::updateButtons(), btVoronoiSimplexSolver::updateClosestVectorAndPoints(), iTaSC::MovingFrame::updateCoordinates(), and viewAxisCorrectCenter().

IMETHOD Vector KDL::diff ( const Rotation &  R_a_b1,
const Rotation &  R_a_b2,
double  dt = 1 
)
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:
srcA
factorb
destC

Definition at line 119 of file jntarray.cpp.

References assert, i, and KDL::JntArray::rows().

Referenced by Divide().

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

Definition at line 129 of file jntarrayacc.cpp.

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

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

Definition at line 135 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 doubleAcc &  factor,
JntArrayAcc &  dest 
)

Definition at line 147 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 JntArrayVel &  src,
const double &  factor,
JntArrayVel &  dest 
)

Definition at line 89 of file jntarrayvel.cpp.

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

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

Definition at line 94 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.

IMETHOD doubleVel KDL::dot ( const VectorVel &  lhs,
const VectorVel &  rhs 
)

Definition at line 357 of file framevel.hpp.

IMETHOD doubleVel KDL::dot ( const VectorVel &  lhs,
const Vector &  rhs 
)

Definition at line 360 of file framevel.hpp.

IMETHOD doubleVel KDL::dot ( const Vector &  lhs,
const VectorVel &  rhs 
)

Definition at line 363 of file framevel.hpp.

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

Definition at line 144 of file frameacc.hpp.

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

Definition at line 151 of file frameacc.hpp.

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

Definition at line 137 of file frameacc.hpp.

Referenced by dot().

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

Eats characters of the stream until the character delim is encountered

Parameters:
isa stream
delimeat until this character is encountered

Definition at line 110 of file utility_io.cpp.

References _EatSpace().

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

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

Parameters:
isa stream
descriptdescription string. A sequence of spaces, tabs, new-lines and comments is regarded as 1 space in the description string.

Definition at line 153 of file utility_io.cpp.

References _EatSpace(), p, and Upper().

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:
isa stream
delimeat until this character is encountered

Definition at line 124 of file utility_io.cpp.

References _EatSpace().

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:
isa stream
delima string containing the delimmiting characters
storagefor returning the word
maxsizea word can be maximally maxsize-1 long.

Definition at line 184 of file utility_io.cpp.

References _check_istream(), _EatSpace(), NULL, p, and size().

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

Definition at line 342 of file framevel.hpp.

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

Definition at line 346 of file framevel.hpp.

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

Definition at line 350 of file framevel.hpp.

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

Definition at line 339 of file framevel.hpp.

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

Definition at line 393 of file frameacc.hpp.

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

Definition at line 396 of file frameacc.hpp.

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 
)

Definition at line 525 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.

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

Definition at line 399 of file frameacc.hpp.

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

Definition at line 121 of file jacobian.cpp.

References KDL::Jacobian::columns(), Equal(), i, KDL::Jacobian::rows(), and KDL::Jacobian::twists.

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

Definition at line 265 of file utility.h.

References eps.

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
epsdefault: 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())

Definition at line 141 of file jntarray.cpp.

References assert, Equal(), and i.

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

Definition at line 166 of file frameacc.hpp.

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

Definition at line 159 of file frameacc.hpp.

Referenced by iTaSC::Distance::closeLoop(), Equal(), Equal(), operator==(), and operator==().

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

Definition at line 173 of file frameacc.hpp.

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

Definition at line 167 of file jntarrayacc.cpp.

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

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

Definition at line 586 of file frameacc.hpp.

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

Definition at line 108 of file jntarrayvel.cpp.

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

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

Definition at line 590 of file frameacc.hpp.

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

Definition at line 594 of file frameacc.hpp.

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

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

Definition at line 157 of file frames.cpp.

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

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

Definition at line 75 of file framevel.hpp.

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

Definition at line 78 of file framevel.hpp.

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

Definition at line 81 of file framevel.hpp.

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

Definition at line 323 of file frameacc.hpp.

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

Definition at line 326 of file frameacc.hpp.

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

Definition at line 330 of file frameacc.hpp.

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 
)

Definition at line 468 of file rall1d.h.

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

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

Definition at line 323 of file framevel.hpp.

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

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

Definition at line 329 of file framevel.hpp.

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

Definition at line 326 of file framevel.hpp.

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

Definition at line 333 of file framevel.hpp.

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

Definition at line 336 of file framevel.hpp.

double KDL::exp ( double  a) [inline]

Definition at line 91 of file utility.h.

References exp().

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::exp ( const Rall1d< T, V, S > &  arg)

Definition at line 296 of file rall1d.h.

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

Referenced by AtmospherePixleShader(), avgLogLum(), BL_ConvertActuators(), BLI_newname(), Blinn_Spec(), ComputeAttenuatedSunlight(), defocus_blur(), exp(), GetSkyXYZRadiance(), Image_getbuffer(), Image_getImage(), ImageMirror_init(), ImageRender_init(), ImageViewport_setCaptureSize(), ImageViewport_setWhole(), load(), RVBlurBitmap2_byte(), RVBlurBitmap2_float(), sample_occ_tree(), sb_detect_face_pointCached(), sb_detect_vertex_collisionCached(), ntlRay::shade(), IsoSurface::smoothSurface(), sqrt3d(), sqrt3f(), Texture_init(), tonemap(), SCA_RandomActuator::Update(), and waveModifier_do().

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::exp ( const Rall2d< T, V, S > &  arg)

Definition at line 317 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 Rall2d<T,V,S> KDL::hypot ( const Rall2d< T, V, S > &  y,
const Rall2d< T, V, S > &  x 
)

Definition at line 471 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 
)

Definition at line 384 of file rall1d.h.

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

Referenced by hypot().

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

Definition at line 35 of file error_stack.cpp.

References errorstack.

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

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

Definition at line 44 of file error_stack.cpp.

References errorstack.

void KDL::IOTracePop ( )

pops a description of the IO-stack

Definition at line 40 of file error_stack.cpp.

References errorstack.

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.

Definition at line 52 of file error_stack.cpp.

References errorstack, and size().

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 
)

Definition at line 491 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.

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

Definition at line 227 of file utility.h.

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 
)

Definition at line 438 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 232 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 
)

Definition at line 501 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 
)

Definition at line 447 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 94 of file utility.h.

References log().

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::log ( const Rall1d< T, V, S > &  arg)

Definition at line 304 of file rall1d.h.

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

Referenced by log().

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::log ( const Rall2d< T, V, S > &  arg)

Definition at line 327 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.

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

Definition at line 200 of file utility.h.

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

Definition at line 208 of file utility.h.

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:
srcA
factorb
destC

Definition at line 112 of file jntarray.cpp.

References assert, and i.

Referenced by Divide(), and Multiply().

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

Definition at line 106 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 100 of file jntarrayacc.cpp.

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

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

Definition at line 116 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 JntArrayVel &  src,
const double &  factor,
JntArrayVel &  dest 
)

Definition at line 76 of file jntarrayvel.cpp.

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

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

Definition at line 81 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::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:
jacJ
srcq
destt
Postcondition:
dest==Twist::Zero() if 0==src.rows() (ie src is empty)

Definition at line 126 of file jntarray.cpp.

References assert, KDL::Jacobian::columns(), i, and SetToZero().

template<class T , class V , class S >
INLINE S KDL::Norm ( const Rall2d< T, V, S > &  value)

Definition at line 482 of file rall2d.h.

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

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

Definition at line 252 of file utility.h.

References fabs().

template<class T , class V , class S >
INLINE S KDL::Norm ( const Rall1d< T, V, S > &  value)

Definition at line 417 of file rall1d.h.

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

Referenced by Norm(), and iTaSC::Distance::updateControlOutput().

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

Definition at line 59 of file frameacc.hpp.

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

Definition at line 436 of file framevel.hpp.

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

Definition at line 74 of file frameacc.hpp.

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

Definition at line 357 of file frameacc.hpp.

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

Definition at line 415 of file framevel.hpp.

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

Definition at line 420 of file framevel.hpp.

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

Definition at line 431 of file framevel.hpp.

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 
)

Definition at line 235 of file rall2d.h.

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

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

Definition at line 476 of file frameacc.hpp.

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

Definition at line 487 of file frameacc.hpp.

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

Definition at line 353 of file frameacc.hpp.

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

Definition at line 63 of file frameacc.hpp.

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

Definition at line 492 of file frameacc.hpp.

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

Definition at line 260 of file framevel.hpp.

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

Definition at line 70 of file frameacc.hpp.

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

Definition at line 192 of file frameacc.hpp.

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator* ( S  s,
const Rall1d< T, V, S > &  v 
)

Definition at line 247 of file rall1d.h.

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

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

Definition at line 33 of file framevel.hpp.

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

Definition at line 37 of file framevel.hpp.

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

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

Definition at line 199 of file frameacc.hpp.

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

Definition at line 41 of file framevel.hpp.

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

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

Definition at line 177 of file frames.cpp.

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

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator* ( const Rall1d< T, V, S > &  v,
S  s 
)

Definition at line 253 of file rall1d.h.

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

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

Definition at line 52 of file frameacc.hpp.

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 
)

Definition at line 222 of file rall1d.h.

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

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

Definition at line 203 of file frameacc.hpp.

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

Definition at line 94 of file framevel.hpp.

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

Definition at line 98 of file framevel.hpp.

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

Definition at line 102 of file framevel.hpp.

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

Definition at line 78 of file frameacc.hpp.

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

Definition at line 471 of file frameacc.hpp.

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

Definition at line 254 of file frameacc.hpp.

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

Definition at line 245 of file framevel.hpp.

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

Definition at line 249 of file framevel.hpp.

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

Definition at line 253 of file framevel.hpp.

References KDL::TwistVel::rot, KDL::VectorVel::value(), and KDL::TwistVel::vel.

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

Definition at line 264 of file framevel.hpp.

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

Definition at line 270 of file framevel.hpp.

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

Definition at line 274 of file framevel.hpp.

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

Definition at line 349 of file frameacc.hpp.

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator* ( S  s,
const Rall2d< T, V, S > &  v 
)

Definition at line 263 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 > &  v,
S  s 
)

Definition at line 269 of file rall2d.h.

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

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

Definition at line 85 of file frameacc.hpp.

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

Definition at line 286 of file framevel.hpp.

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator+ ( const Rall2d< T, V, S > &  v,
S  s 
)

Definition at line 281 of file rall2d.h.

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

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

Definition at line 24 of file frameacc.hpp.

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 
)

Definition at line 245 of file rall2d.h.

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

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

Definition at line 449 of file framevel.hpp.

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 
)

Definition at line 228 of file rall1d.h.

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

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

Definition at line 38 of file frameacc.hpp.

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator+ ( const Rall1d< T, V, S > &  v,
S  s 
)

Definition at line 265 of file rall1d.h.

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

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

Definition at line 505 of file frameacc.hpp.

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

Definition at line 31 of file frameacc.hpp.

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator+ ( S  s,
const Rall1d< T, V, S > &  v 
)

Definition at line 259 of file rall1d.h.

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

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

Definition at line 210 of file framevel.hpp.

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

Definition at line 218 of file framevel.hpp.

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

Definition at line 226 of file framevel.hpp.

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator+ ( S  s,
const Rall2d< T, V, S > &  v 
)

Definition at line 275 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 
)

Definition at line 287 of file rall2d.h.

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

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

Definition at line 35 of file frameacc.hpp.

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator- ( const Rall2d< T, V, S > &  arg)

Definition at line 257 of file rall2d.h.

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

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

Definition at line 454 of file framevel.hpp.

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator- ( const Rall2d< T, V, S > &  v,
S  s 
)

Definition at line 293 of file rall2d.h.

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

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

Definition at line 28 of file frameacc.hpp.

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

Definition at line 510 of file frameacc.hpp.

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

Definition at line 516 of file frameacc.hpp.

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

Definition at line 42 of file frameacc.hpp.

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

Definition at line 214 of file framevel.hpp.

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator- ( const Rall1d< T, V, S > &  arg)

Definition at line 241 of file rall1d.h.

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

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

Definition at line 222 of file framevel.hpp.

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

Definition at line 230 of file framevel.hpp.

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

Definition at line 235 of file framevel.hpp.

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

Definition at line 47 of file frameacc.hpp.

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 
)

Definition at line 235 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 
)

Definition at line 271 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 > &  v,
S  s 
)

Definition at line 277 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 Rall2d<T,V,S> KDL::operator- ( const Rall2d< T, V, S > &  lhs,
const Rall2d< T, V, S > &  rhs 
)

Definition at line 251 of file rall2d.h.

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

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

Definition at line 460 of file framevel.hpp.

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator/ ( S  s,
const Rall1d< T, V, S > &  v 
)

Definition at line 283 of file rall1d.h.

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

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

Definition at line 278 of file framevel.hpp.

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

Definition at line 425 of file framevel.hpp.

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

Definition at line 282 of file framevel.hpp.

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

Definition at line 441 of file framevel.hpp.

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator/ ( const Rall1d< T, V, S > &  v,
S  s 
)

Definition at line 289 of file rall1d.h.

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

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

Definition at line 497 of file frameacc.hpp.

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

Definition at line 180 of file frameacc.hpp.

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

Definition at line 481 of file frameacc.hpp.

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

Definition at line 184 of file frameacc.hpp.

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator/ ( const Rall2d< T, V, S > &  v,
S  s 
)

Definition at line 310 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 
)

Definition at line 225 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 > &  lhs,
const Rall1d< T, V, S > &  rhs 
)

Definition at line 216 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 Rall2d<T,V,S> KDL::operator/ ( S  s,
const Rall2d< T, V, S > &  rhs 
)

Definition at line 299 of file rall2d.h.

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

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 Twist &  T 
)
std::ostream& KDL::operator<< ( std::ostream &  os,
const Rotation2 &  R 
)
std::ostream& KDL::operator<< ( std::ostream &  os,
const Frame2 &  T 
)
std::ostream& KDL::operator<< ( std::ostream &  os,
const Frame &  T 
)
std::ostream& KDL::operator<< ( std::ostream &  os,
const Wrench &  T 
)
std::ostream & KDL::operator<< ( std::ostream &  os,
const Joint &  joint 
)

Definition at line 29 of file kinfam_io.cpp.

References KDL::Joint::getTypeName().

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

Definition at line 37 of file kinfam_io.cpp.

References KDL::Segment::getFrameToTip(), and KDL::Segment::getJoint().

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

Definition at line 46 of file kinfam_io.cpp.

References KDL::Chain::getNrOfSegments(), KDL::Chain::getSegment(), and i.

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

Definition at line 58 of file kinfam_io.cpp.

References KDL::Tree::getSegment(), and MakeCursor::root.

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

Definition at line 88 of file kinfam_io.cpp.

References KDL::Jacobian::columns(), i, KDL_FRAME_WIDTH, and KDL::Jacobian::rows().

template<typename T >
std::ostream& KDL::operator<< ( std::ostream &  os,
const std::vector< T > &  vec 
)

Definition at line 54 of file kinfam_io.hpp.

References i.

std::ostream& KDL::operator<< ( std::ostream &  os,
const Rotation &  R 
)
std::ostream& KDL::operator<< ( std::ostream &  os,
const Vector2 &  v 
)
std::ostream & KDL::operator<< ( std::ostream &  os,
SegmentMap::const_iterator  root 
)

Definition at line 63 of file kinfam_io.cpp.

References i.

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

Definition at line 76 of file kinfam_io.cpp.

References i, KDL_FRAME_WIDTH, and KDL::JntArray::rows().

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

Definition at line 150 of file jntarray.cpp.

References Equal().

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

Definition at line 377 of file frames.cpp.

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

Referenced by operator!=().

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

Definition at line 196 of file frames_io.cpp.

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

Definition at line 54 of file kinfam_io.cpp.

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

Definition at line 257 of file frames_io.cpp.

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

Definition at line 99 of file kinfam_io.cpp.

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

Definition at line 177 of file frames_io.cpp.

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

Definition at line 158 of file frames_io.cpp.

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

Definition at line 298 of file frames_io.cpp.

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

Definition at line 84 of file kinfam_io.cpp.

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

Definition at line 72 of file kinfam_io.cpp.

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

Definition at line 33 of file kinfam_io.cpp.

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

Definition at line 42 of file kinfam_io.cpp.

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

Definition at line 308 of file frames_io.cpp.

template<typename T >
std::istream& KDL::operator>> ( std::istream &  is,
std::vector< T > &  vec 
)

Definition at line 64 of file kinfam_io.hpp.

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

Definition at line 288 of file frames_io.cpp.

D const Vector& v KDL::os<< "["<< std::setw(KDL_FRAME_WIDTH)<< v(0)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v(1)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v(2)<< "]";return os;}std::ostream &operator<< (std::ostream &os, const Twist &v){os<< "["<< std::setw(KDL_FRAME_WIDTH)<< v.vel(0)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v.vel(1)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v.vel(2)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v.rot(0)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v.rot(1)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v.rot(2)<< "]";return os;}std::ostream &operator<< (std::ostream &os, const Wrench &v){os<< "["<< std::setw(KDL_FRAME_WIDTH)<< v.force(0)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v.force(1)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v.force(2)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v.torque(0)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v.torque(1)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v.torque(2)<< "]";return os;}std::ostream &operator<< (std::ostream &os, const Rotation &R){#ifdef KDL_ROTATION_PROPERTIES_RPY double r, p, y;R.GetRPY(r, p, y);os<< "[RPY]"<< endl;os<< "[";os<< std::setw(KDL_FRAME_WIDTH)<< r<< ",";os<< std::setw(KDL_FRAME_WIDTH)<< p<< ",";os<< std::setw(KDL_FRAME_WIDTH)<< y<< "]";#else#ifdef KDL_ROTATION_PROPERTIES_EULER double z, y, x;R.GetEulerZYX(z, y, x);os<< "[EULERZYX]"<< endl;os<< "[";os<< std::setw(KDL_FRAME_WIDTH)<< z<< ",";os<< std::setw(KDL_FRAME_WIDTH)<< y<< ",";os<< std::setw(KDL_FRAME_WIDTH)<< x<< "]";#else os<< "[";for(int i=0;i<=2;i++){os<< std::setw(KDL_FRAME_WIDTH)<< R(i, 0)<< ","<< std::setw(KDL_FRAME_WIDTH)<< R(i, 1)<< ","<< std::setw(KDL_FRAME_WIDTH)<< R(i, 2);if(i< 2) os<< ";"<< std::endl<< " ";else os<< "]";}#endif#endif return os;}std::ostream &operator<< (std::ostream &os, const Frame &T){os<< "["<< T.M<< std::endl<< T.p<< "]";return os;}std::ostream &operator<< (std::ostream &os, const Vector2 &v){os<< "["<< std::setw(KDL_FRAME_WIDTH)<< v(0)<< ","<< std::setw(KDL_FRAME_WIDTH)<< v(1)<< "]";return os;}std::ostream &operator<< (std::ostream &os, const Rotation2 &R){os<< "["<< R.GetRot()*rad2deg<< "]";return os;}std::ostream &operator<< (std::ostream &os, const Frame2 &T){os<< T.M<< T.p;return os;}std::istream &operator> > ( std::istream &  is,
Vector &  v 
)

Definition at line 135 of file frames_io.cpp.

IMETHOD void KDL::posrandom ( FrameVel &  F)

Definition at line 366 of file framevel.hpp.

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

IMETHOD void KDL::posrandom ( TwistVel &  a)

Definition at line 356 of file framevel.hpp.

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

Definition at line 275 of file utility.h.

IMETHOD void KDL::posrandom ( RotationVel &  R)

Definition at line 361 of file framevel.hpp.

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

IMETHOD void KDL::posrandom ( doubleVel &  F)

Definition at line 49 of file framevel.hpp.

Referenced by posrandom(), and posrandom().

IMETHOD void KDL::posrandom ( VectorVel &  a)

Definition at line 352 of file framevel.hpp.

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

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

Definition at line 121 of file utility.h.

References pow().

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::pow ( const Rall1d< T, V, S > &  arg,
double  m 
)

Definition at line 360 of file rall1d.h.

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

Referenced by pow().

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::pow ( const Rall2d< T, V, S > &  arg,
double  m 
)

Definition at line 394 of file rall2d.h.

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

template<typename Scalar >
Scalar KDL::PYTHAG ( Scalar  a,
Scalar  b 
) [inline]

Definition at line 33 of file svd_eigen_HH.hpp.

References at, fabs(), and sqrt().

Referenced by svd_eigen_HH().

IMETHOD void KDL::random ( FrameVel &  F)

Definition at line 348 of file framevel.hpp.

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

IMETHOD void KDL::random ( TwistVel &  a)

Definition at line 338 of file framevel.hpp.

IMETHOD void KDL::random ( RotationVel &  R)

Definition at line 343 of file framevel.hpp.

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

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

Definition at line 271 of file utility.h.

IMETHOD void KDL::random ( doubleVel &  F)

Definition at line 45 of file framevel.hpp.

Referenced by posrandom(), random(), and random().

IMETHOD void KDL::random ( VectorVel &  a)

Definition at line 334 of file framevel.hpp.

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

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

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

Definition at line 243 of file utility.h.

template<class T , class V , class S >
INLINE void KDL::SetToIdentity ( Rall1d< T, V, S > &  value)

Definition at line 461 of file rall1d.h.

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

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

template<class T , class V , class S >
INLINE void KDL::SetToIdentity ( Rall2d< T, V, S > &  value)

Definition at line 517 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.

void KDL::SetToZero ( Jacobian &  jac)

Definition at line 81 of file jacobian.cpp.

References i, SetToZero(), and KDL::Jacobian::twists.

template<class T , class V , class S >
INLINE void KDL::SetToZero ( Rall2d< T, V, S > &  value)

Definition at line 509 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.

void KDL::SetToZero ( TwistVel &  v)

Definition at line 465 of file framevel.hpp.

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

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

Definition at line 238 of file utility.h.

void KDL::SetToZero ( JntArrayVel &  array)

Definition at line 102 of file jntarrayvel.cpp.

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

void KDL::SetToZero ( JntArray &  array)

Function to set all the values of the array to 0

Parameters:
array

Definition at line 135 of file jntarray.cpp.

References i.

void KDL::SetToZero ( JntArrayAcc &  array)

Definition at line 160 of file jntarrayacc.cpp.

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

template<class T , class V , class S >
INLINE void KDL::SetToZero ( Rall1d< T, V, S > &  value)

Definition at line 455 of file rall1d.h.

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

void KDL::SetToZero ( VectorVel &  v)

Definition at line 239 of file framevel.hpp.

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

template<typename Scalar >
Scalar KDL::SIGN ( Scalar  a,
Scalar  b 
) [inline]

Definition at line 51 of file svd_eigen_HH.hpp.

References fabs().

Referenced by svd_eigen_HH().

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

Definition at line 247 of file utility.h.

Referenced by KDL::Rotation::GetRPY().

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::sin ( const Rall1d< T, V, S > &  arg)

Definition at line 312 of file rall1d.h.

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

Referenced by acos(), base_callback(), cos(), KDL::Frame::DH(), KDL::Frame::DH_Craig1989(), KDL::RotationVel::DoRotX(), KDL::RotationVel::DoRotY(), KDL::RotationVel::DoRotZ(), KDL::Rotation::EulerZYZ(), KDL::Rotation::GetRotAngle(), KDL::RotationVel::Rot(), KDL::Rotation::Rot(), Rot(), KDL::Rotation::Rot2(), KDL::RotationVel::RotX(), KDL::RotationVel::RotY(), KDL::RotationVel::RotZ(), KDL::Rotation::RPY(), KDL::Rotation2::SetRot(), and sin().

double KDL::sin ( double  a) [inline]

Definition at line 84 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)

Definition at line 337 of file rall2d.h.

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

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::sinh ( const Rall2d< T, V, S > &  arg)

Definition at line 361 of file rall2d.h.

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

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::sinh ( const Rall1d< T, V, S > &  arg)

Definition at line 336 of file rall1d.h.

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

Referenced by MeanValueMeshCoords::computeWeights(), cosh(), and sinh().

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

Definition at line 103 of file utility.h.

References sinh().

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::sqr ( const Rall2d< T, V, S > &  arg)

Definition at line 385 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.

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

Definition at line 251 of file utility.h.

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::sqr ( const Rall1d< T, V, S > &  arg)

Definition at line 352 of file rall1d.h.

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

Referenced by acos(), asin(), atan(), atan2(), copypose_error(), fresnel(), KDL::Rotation::GetEulerZYZ(), KDL::Rotation::GetRPY(), hypot(), KDL::Vector2::Norm(), KDL::Vector::Norm(), KDL::Rotation::Ortho(), processSamples(), TNT::pythag(), QMC_sampleDisc(), QMC_sampleHemi(), QMC_samplePhong(), KX_ObstacleSimulationTOI_cells::sampleRVO(), iTaSC::WDLSSolver::solve(), sqr(), sqrt(), tan(), tanh(), and iTaSC::updateJoint().

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

Definition at line 106 of file utility.h.

References sqrt().

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::sqrt ( const Rall1d< T, V, S > &  arg)

Definition at line 368 of file rall1d.h.

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

Referenced by acos(), asin(), copypose_error(), EulerAngleFromMatrix(), KDL::Rotation::GetEulerZYZ(), KDL::Rotation::GetRotAngle(), KDL::Rotation::GetRPY(), KDL::Vector2::Norm(), KDL::Vector::Norm(), KDL::Rotation::Ortho(), PYTHAG(), sqrt(), svd_eigen_HH(), and iTaSC::updateJoint().

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::sqrt ( const Rall2d< T, V, S > &  arg)

Definition at line 405 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.

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

Definition at line 70 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 93 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:
src1A
src2B
destC

Definition at line 105 of file jntarray.cpp.

References assert, and i.

Referenced by Divide(), and Subtract().

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

Definition at line 65 of file jntarrayvel.cpp.

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

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

Definition at line 81 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 87 of file jntarrayacc.cpp.

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

template<typename MatrixA , typename MatrixUV , typename VectorS >
int KDL::svd_eigen_HH ( const Eigen::MatrixBase< MatrixA > &  A,
Eigen::MatrixBase< MatrixUV > &  U,
Eigen::MatrixBase< VectorS > &  S,
Eigen::MatrixBase< MatrixUV > &  V,
Eigen::MatrixBase< VectorS > &  tmp,
int  maxiter = 150 
)

svd calculation of boost ublas matrices

Parameters:
Amatrix<double>(mxn)
Umatrix<double>(mxn)
Svector<double> n
Vmatrix<double>(nxn)
tmpvector<double> n
maxiterdefaults to 150
Returns:
-2 if maxiter exceeded, 0 otherwise

Definition at line 68 of file svd_eigen_HH.hpp.

References e_scalar, fabs(), g, i, PYTHAG(), SIGN(), sqrt(), U, and V.

Referenced by iTaSC::WDLSSolver::solve(), iTaSC::WSDLSSolver::solve(), and iTaSC::Scene::update().

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::tan ( const Rall2d< T, V, S > &  arg)

Definition at line 353 of file rall2d.h.

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

double KDL::tan ( double  a) [inline]

Definition at line 97 of file utility.h.

References tan().

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::tan ( const Rall1d< T, V, S > &  arg)

Definition at line 328 of file rall1d.h.

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

Referenced by BL_ConvertSensors(), copy_text(), KX_Dome::CreateMeshDome250(), do_math(), fcm_fn_generator_evaluate(), node_shader_exec_math(), precalc_wipe_zone(), AUD_ButterworthFactory::recalculateCoefficients(), ntlWorld::renderScene(), sky_texture_precompute(), tan(), valuefn(), and WardIso_Spec().

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::tanh ( const Rall2d< T, V, S > &  arg)

Definition at line 377 of file rall2d.h.

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

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

Definition at line 118 of file utility.h.

References tanh().

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::tanh ( const Rall1d< T, V, S > &  arg)

Definition at line 423 of file rall1d.h.

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

Referenced by tanh().

char KDL::Upper ( char  ch) [inline]

Definition at line 143 of file utility_io.cpp.

Referenced by Eat().

Variable Documentation

D KDL::__pad0__

Definition at line 48 of file frames_io.cpp.

const double KDL::deg2rad = 0.01745329251994329576923690768488

the value pi/180

Definition at line 20 of file utility.cpp.

double KDL::epsilon = 0.000001

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

Definition at line 22 of file utility.cpp.

Referenced by BLI_bvhtree_new(), bvhtree_from_mesh_edges(), bvhtree_from_mesh_faces(), bvhtree_from_mesh_verts(), btSubsimplexConvexCast::calcTimeOfImpact(), compress_deepsamples(), IK_QJacobian::ComputeNullProjection(), convert_tree(), iTaSC::Distance::Distance(), EulerAngleFromMatrix(), ff_visible_quad(), KDL::Rotation::GetEulerZYZ(), KDL::Rotation::GetRot(), KDL::Rotation::GetRPY(), KDL::Rotation::GetXZRot(), KDL::Frame2::Integrate(), meshdeform_ray_tree_intersect(), occ_visible_quad(), pseudoInverse(), iTaSC::Distance::setControlParameters(), iTaSC::WSDLSSolver::solve(), iTaSC::WDLSSolver::solve(), iTaSC::Scene::update(), iTaSC::updateJoint(), iTaSC::Distance::updateKinematics(), and Vector_richcmpr().

double KDL::epsilon2 = 0.000001*0.000001

power or 2 of epsilon

Definition at line 23 of file utility.cpp.

Referenced by cloth_collision_response_static(), and iTaSC::updateJoint().

ErrorStack KDL::errorstack

Definition at line 31 of file error_stack.cpp.

Referenced by IOTrace(), IOTraceOutput(), IOTracePop(), and IOTracePopStr().

int KDL::MAXLENFILENAME = 255

maximal length of a file name

Definition at line 18 of file utility.cpp.

const double KDL::PI = 3.1415926535897932384626433832795

the value of pi

Definition at line 19 of file utility.cpp.

Referenced by KDL::Rotation::GetEulerZYZ(), KDL::Rotation::GetRot(), KDL::Rotation::GetRotAngle(), KDL::Rotation::GetRPY(), and KDL::Rotation::GetXZRot().

const double KDL::rad2deg = 57.2957795130823208767981548141052

the value 180/pi

Definition at line 21 of file utility.cpp.

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 17 of file utility.cpp.

int KDL::VSIZE

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

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