Blender V5.0
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
 A 2D Rotation class, for conventions see Rotation. For further documentation of the methods see Rotation class. More...
class  Frame2
 A 2D frame class, for further documentation see the Frames class for methods with unchanged semantics. More...
class  VectorVel
class  RotationVel
class  FrameVel
class  TwistVel
class  Inertia
class  Jacobian
class  JntArray
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< const std::string, TreeElement > > > SegmentMap
typedef std::stack< std::string > ErrorStack

Functions

IMETHOD bool Equal (const VectorAcc &r1, const VectorAcc &r2, double eps=epsilon)
IMETHOD bool Equal (const Vector &r1, const VectorAcc &r2, double eps=epsilon)
IMETHOD bool Equal (const VectorAcc &r1, const Vector &r2, double eps=epsilon)
IMETHOD bool Equal (const RotationAcc &r1, const RotationAcc &r2, double eps=epsilon)
IMETHOD bool Equal (const Rotation &r1, const RotationAcc &r2, double eps=epsilon)
IMETHOD bool Equal (const RotationAcc &r1, const Rotation &r2, double eps=epsilon)
IMETHOD bool Equal (const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
IMETHOD bool Equal (const Frame &r1, const FrameAcc &r2, double eps=epsilon)
IMETHOD bool Equal (const FrameAcc &r1, const Frame &r2, double eps=epsilon)
IMETHOD bool Equal (const TwistAcc &a, const TwistAcc &b, double eps=epsilon)
IMETHOD bool Equal (const Twist &a, const TwistAcc &b, double eps=epsilon)
IMETHOD bool Equal (const TwistAcc &a, const Twist &b, double eps=epsilon)
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)
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)
FrameAcc operator* (const FrameAcc &lhs, const FrameAcc &rhs)
FrameAcc operator* (const FrameAcc &lhs, const Frame &rhs)
FrameAcc operator* (const Frame &lhs, const FrameAcc &rhs)
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 Rotation &a, const Rotation &b, double eps)
Rotation operator* (const Rotation &lhs, const Rotation &rhs)
bool operator== (const Rotation &a, const Rotation &b)
Vector Normalize (const Vector &a, double eps=epsilon)
bool Equal (const Vector &a, const Vector &b, double eps=epsilon)
bool Equal (const Frame &a, const Frame &b, double eps=epsilon)
bool Equal (const Twist &a, const Twist &b, double eps=epsilon)
bool Equal (const Wrench &a, const Wrench &b, double eps=epsilon)
bool Equal (const Vector2 &a, const Vector2 &b, double eps=epsilon)
bool Equal (const Rotation2 &a, const Rotation2 &b, double eps=epsilon)
bool Equal (const Frame2 &a, const Frame2 &b, double eps=epsilon)
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)
 diff operator for displacement rotational velocity.
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)
IMETHOD Vector operator+ (const Vector &lhs, const Vector &rhs)
IMETHOD Vector operator- (const Vector &lhs, const Vector &rhs)
Vector operator* (const Vector &lhs, double rhs)
Vector operator* (double lhs, const Vector &rhs)
Vector operator/ (const Vector &lhs, double rhs)
Vector operator* (const Vector &lhs, const Vector &rhs)
Wrench operator* (const Wrench &lhs, double rhs)
Wrench operator* (double lhs, const Wrench &rhs)
Wrench operator/ (const Wrench &lhs, double rhs)
Wrench operator+ (const Wrench &lhs, const Wrench &rhs)
Wrench operator- (const Wrench &lhs, const Wrench &rhs)
Wrench operator- (const Wrench &arg)
Twist operator* (const Twist &lhs, double rhs)
Twist operator* (double lhs, const Twist &rhs)
Twist operator/ (const Twist &lhs, double rhs)
Twist operator+ (const Twist &lhs, const Twist &rhs)
Twist operator- (const Twist &lhs, const Twist &rhs)
Twist operator- (const Twist &arg)
Frame operator* (const Frame &lhs, const Frame &rhs)
Vector operator- (const Vector &arg)
IMETHOD Vector2 operator+ (const Vector2 &lhs, const Vector2 &rhs)
IMETHOD Vector2 operator- (const Vector2 &lhs, const Vector2 &rhs)
IMETHOD Vector2 operator* (const Vector2 &lhs, double rhs)
IMETHOD Vector2 operator* (double lhs, const Vector2 &rhs)
IMETHOD Vector2 operator/ (const Vector2 &lhs, double rhs)
IMETHOD Vector2 operator- (const Vector2 &arg)
IMETHOD Rotation2 operator* (const Rotation2 &lhs, const Rotation2 &rhs)
IMETHOD Frame2 operator* (const Frame2 &lhs, const Frame2 &rhs)
IMETHOD double dot (const Vector &lhs, const Vector &rhs)
IMETHOD double dot (const Twist &lhs, const Wrench &rhs)
IMETHOD double dot (const Wrench &rhs, const Twist &lhs)
IMETHOD void SetToZero (Vector &v)
IMETHOD void SetToZero (Twist &v)
IMETHOD void SetToZero (Wrench &v)
IMETHOD void SetToZero (Vector2 &v)
IMETHOD Rotation Rot (const Vector &axis_a_b)
IMETHOD void random (Vector &a)
 addDelta operator for displacement rotational velocity.
IMETHOD void random (Twist &a)
IMETHOD void random (Wrench &a)
IMETHOD void random (Rotation &R)
IMETHOD void random (Frame &F)
IMETHOD void posrandom (Vector &a)
IMETHOD void posrandom (Twist &a)
IMETHOD void posrandom (Wrench &a)
IMETHOD void posrandom (Rotation &R)
IMETHOD void posrandom (Frame &F)
IMETHOD bool operator== (const Frame &a, const Frame &b)
IMETHOD bool operator!= (const Frame &a, const Frame &b)
IMETHOD bool operator== (const Vector &a, const Vector &b)
IMETHOD bool operator!= (const Vector &a, const Vector &b)
IMETHOD bool operator== (const Twist &a, const Twist &b)
IMETHOD bool operator!= (const Twist &a, const Twist &b)
IMETHOD bool operator== (const Wrench &a, const Wrench &b)
IMETHOD bool operator!= (const Wrench &a, const Wrench &b)
IMETHOD bool operator!= (const Rotation &a, const Rotation &b)
std::ostream & operator<< (std::ostream &os, const Vector &v)
std::ostream & operator<< (std::ostream &os, const Twist &v)
std::ostream & operator<< (std::ostream &os, const Wrench &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 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)
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)
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 bool Equal (const VectorVel &r1, const VectorVel &r2, double eps=epsilon)
IMETHOD bool Equal (const Vector &r1, const VectorVel &r2, double eps=epsilon)
IMETHOD bool Equal (const VectorVel &r1, const Vector &r2, double eps=epsilon)
IMETHOD bool Equal (const RotationVel &r1, const RotationVel &r2, double eps=epsilon)
IMETHOD bool Equal (const Rotation &r1, const RotationVel &r2, double eps=epsilon)
IMETHOD bool Equal (const RotationVel &r1, const Rotation &r2, double eps=epsilon)
IMETHOD bool Equal (const FrameVel &r1, const FrameVel &r2, double eps=epsilon)
IMETHOD bool Equal (const Frame &r1, const FrameVel &r2, double eps=epsilon)
IMETHOD bool Equal (const FrameVel &r1, const Frame &r2, double eps=epsilon)
IMETHOD bool Equal (const TwistVel &a, const TwistVel &b, double eps=epsilon)
IMETHOD bool Equal (const Twist &a, const TwistVel &b, double eps=epsilon)
IMETHOD bool Equal (const TwistVel &a, const Twist &b, double eps=epsilon)
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)
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)
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=epsilon)
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=epsilon)
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=epsilon)
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=epsilon)
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)
static int _EatUntilEndOfLine (std::istream &is, int *countp=NULL)
static int _EatUntilEndOfComment (std::istream &is, int *countp=NULL)
static 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

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

◆ doubleAcc

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

Definition at line 39 of file frameacc.hpp.

◆ doubleVel

typedef Rall1d<double> KDL::doubleVel

Definition at line 34 of file framevel.hpp.

◆ ErrorStack

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

Definition at line 28 of file error_stack.cpp.

◆ SegmentMap

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

Definition at line 37 of file tree.hpp.

Function Documentation

◆ _check_istream()

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

checks validity of basic io of is

Definition at line 33 of file utility_io.cpp.

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

◆ _EatSpace()

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

Definition at line 77 of file utility_io.cpp.

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

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

◆ _EatUntilEndOfComment()

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

Definition at line 55 of file utility_io.cpp.

References _check_istream(), and count.

Referenced by _EatSpace().

◆ _EatUntilEndOfLine()

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

Definition at line 41 of file utility_io.cpp.

References _check_istream(), and count.

Referenced by _EatSpace().

◆ abs() [1/2]

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

Definition at line 407 of file rall1d.h.

References INLINE, Sign(), T, v, and x.

◆ abs() [2/2]

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

Definition at line 463 of file rall2d.h.

References INLINE, Sign(), T, v, and x.

◆ acos() [1/3]

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

Definition at line 399 of file rall1d.h.

References acos, INLINE, sqr, sqrt(), T, v, and x.

◆ acos() [2/3]

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

Definition at line 427 of file rall2d.h.

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

◆ acos() [3/3]

double KDL::acos ( double a)
inline

Definition at line 115 of file utility.h.

◆ Add() [1/6]

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 103 of file jntarray.cpp.

Referenced by KDL::JntArrayAcc::Add, KDL::JntArrayAcc::Add, KDL::JntArrayAcc::Add, KDL::JntArrayVel::Add, KDL::JntArrayVel::Add, KDL::JntArrayAcc::Divide, KDL::JntArrayAcc::Divide, KDL::JntArrayAcc::Multiply, KDL::JntArrayAcc::Multiply, and KDL::JntArrayVel::Multiply.

◆ Add() [2/6]

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

Definition at line 74 of file jntarrayacc.cpp.

◆ Add() [3/6]

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

Definition at line 62 of file jntarrayacc.cpp.

◆ Add() [4/6]

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

Definition at line 68 of file jntarrayacc.cpp.

◆ Add() [5/6]

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

Definition at line 59 of file jntarrayvel.cpp.

◆ Add() [6/6]

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

Definition at line 54 of file jntarrayvel.cpp.

◆ addDelta() [1/10]

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

Definition at line 40 of file framevel.hpp.

◆ addDelta() [2/10]

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

Definition at line 1232 of file frames.hpp.

◆ addDelta() [3/10]

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

Definition at line 339 of file framevel.hpp.

References IMETHOD.

◆ addDelta() [4/10]

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

Definition at line 1229 of file frames.hpp.

◆ addDelta() [5/10]

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

Definition at line 331 of file framevel.hpp.

References IMETHOD.

◆ addDelta() [6/10]

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

Definition at line 1238 of file frames.hpp.

◆ addDelta() [7/10]

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

Definition at line 1225 of file frames.hpp.

Referenced by KDL::RotationVel::Equal, KDL::TwistVel::Equal, and KDL::VectorVel::Equal.

◆ addDelta() [8/10]

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

Definition at line 324 of file framevel.hpp.

References IMETHOD.

◆ addDelta() [9/10]

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

Definition at line 1241 of file frames.hpp.

◆ addDelta() [10/10]

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

Definition at line 288 of file utility.h.

◆ asin() [1/3]

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

Definition at line 391 of file rall1d.h.

References asin, INLINE, sqr, sqrt(), T, v, and x.

◆ asin() [2/3]

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

Definition at line 415 of file rall2d.h.

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

◆ asin() [3/3]

double KDL::asin ( double a)
inline

Definition at line 118 of file utility.h.

◆ atan() [1/3]

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

Definition at line 375 of file rall1d.h.

References atan, INLINE, sqr(), T, v, and x.

◆ atan() [2/3]

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

Definition at line 440 of file rall2d.h.

References atan, KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, INLINE, sqr, T, KDL::Rall2d< T, V, S >::t, v, and x.

◆ atan() [3/3]

double KDL::atan ( double a)
inline

Definition at line 112 of file utility.h.

◆ atan2() [1/3]

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 429 of file rall1d.h.

References atan2(), INLINE, T, v, x, and y.

Referenced by atan2(), atan2(), ComputeTwist(), EulerAngleFromMatrix(), KDL::Rotation::GetEulerZYZ(), KDL::Rotation::GetRot(), and KDL::Rotation::GetRPY().

◆ atan2() [2/3]

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 452 of file rall2d.h.

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

◆ atan2() [3/3]

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

Definition at line 127 of file utility.h.

References b.

◆ changeBase()

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

Definition at line 95 of file jacobian.cpp.

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

◆ changeRefFrame()

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

Definition at line 103 of file jacobian.cpp.

◆ changeRefPoint()

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

Definition at line 87 of file jacobian.cpp.

Referenced by iTaSC::Armature::updateJacobian(), and iTaSC::Distance::updateJacobian().

◆ cos() [1/3]

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

Definition at line 319 of file rall1d.h.

References cos, KDL::Rall1d< T, V, S >::grad, INLINE, sin, T, KDL::Rall1d< T, V, S >::t, and v.

Referenced by base_callback(), and KDL::Rotation2::Rotation2().

◆ cos() [2/3]

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

Definition at line 344 of file rall2d.h.

References cos, KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, INLINE, sin, T, KDL::Rall2d< T, V, S >::t, and v2.

◆ cos() [3/3]

double KDL::cos ( double a)
inline

Definition at line 91 of file utility.h.

◆ cosh() [1/3]

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

Definition at line 343 of file rall1d.h.

References cosh, KDL::Rall1d< T, V, S >::grad, INLINE, sinh, T, KDL::Rall1d< T, V, S >::t, and v.

◆ cosh() [2/3]

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

Definition at line 368 of file rall2d.h.

References cosh, KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, INLINE, sinh, T, KDL::Rall2d< T, V, S >::t, and v2.

◆ cosh() [3/3]

double KDL::cosh ( double a)
inline

Definition at line 103 of file utility.h.

◆ diff() [1/10]

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

Definition at line 36 of file framevel.hpp.

◆ diff() [2/10]

IMETHOD Twist KDL::diff ( const Frame & F_a_b1,
const Frame & F_a_b2,
double dt = 1 )

Definition at line 1207 of file frames.hpp.

◆ diff() [3/10]

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

Definition at line 335 of file framevel.hpp.

◆ diff() [4/10]

IMETHOD Vector KDL::diff ( const Rotation & R_a_b1,
const Rotation & R_a_b2,
double dt )

diff operator for displacement rotational velocity.

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

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

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

IMETHOD Vector diff_displ(const Vector& a,const Vector& b,double dt) { return diff(Rot(a),Rot(b),dt); }

diff operator for displacement twist.

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

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

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

Definition at line 1203 of file frames.hpp.

◆ diff() [5/10]

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

Definition at line 327 of file framevel.hpp.

References b, and IMETHOD.

◆ diff() [6/10]

IMETHOD Twist KDL::diff ( const Twist & a,
const Twist & b,
double dt = 1 )

Definition at line 1213 of file frames.hpp.

◆ diff() [7/10]

IMETHOD Vector KDL::diff ( const Vector & a,
const Vector & b,
double dt = 1 )

Definition at line 1167 of file frames.hpp.

Referenced by iTaSC::ConstraintSet::closeLoop(), diff(), KDL::RotationVel::Equal, KDL::VectorVel::Equal, iTaSC::CopyPose::getControlParameters(), iTaSC::Armature::getMaxEndEffectorChange(), iTaSC::CopyPose::updateControlOutput(), and iTaSC::MovingFrame::updateCoordinates().

◆ diff() [8/10]

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

Definition at line 320 of file framevel.hpp.

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

◆ diff() [9/10]

IMETHOD Wrench KDL::diff ( const Wrench & W_a_p1,
const Wrench & W_a_p2,
double dt = 1 )

Definition at line 1217 of file frames.hpp.

◆ diff() [10/10]

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

Definition at line 282 of file utility.h.

References b.

◆ Divide() [1/6]

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 124 of file jntarray.cpp.

Referenced by KDL::JntArrayAcc::Divide, KDL::JntArrayAcc::Divide, KDL::JntArrayAcc::Divide, KDL::JntArrayVel::Divide, and KDL::JntArrayVel::Divide.

◆ Divide() [2/6]

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

Definition at line 129 of file jntarrayacc.cpp.

◆ Divide() [3/6]

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

Definition at line 147 of file jntarrayacc.cpp.

◆ Divide() [4/6]

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

Definition at line 135 of file jntarrayacc.cpp.

◆ Divide() [5/6]

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

Definition at line 89 of file jntarrayvel.cpp.

◆ Divide() [6/6]

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

Definition at line 94 of file jntarrayvel.cpp.

◆ dot() [1/9]

IMETHOD double KDL::dot ( const Twist & lhs,
const Wrench & rhs )

Definition at line 1053 of file frames.hpp.

◆ dot() [2/9]

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

Definition at line 1049 of file frames.hpp.

◆ dot() [3/9]

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

Definition at line 150 of file frameacc.hpp.

◆ dot() [4/9]

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

Definition at line 362 of file framevel.hpp.

◆ dot() [5/9]

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

Definition at line 143 of file frameacc.hpp.

◆ dot() [6/9]

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

Definition at line 136 of file frameacc.hpp.

◆ dot() [7/9]

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

Definition at line 359 of file framevel.hpp.

◆ dot() [8/9]

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

Definition at line 356 of file framevel.hpp.

◆ dot() [9/9]

IMETHOD double KDL::dot ( const Wrench & rhs,
const Twist & lhs )

Definition at line 1057 of file frames.hpp.

◆ Eat() [1/2]

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 152 of file utility_io.cpp.

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

◆ Eat() [2/2]

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 109 of file utility_io.cpp.

References _EatSpace().

Referenced by operator>>(), operator>>(), operator>>(), operator>>(), operator>>(), operator>>(), and operator>>().

◆ EatEnd()

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 123 of file utility_io.cpp.

References _EatSpace().

Referenced by operator>>(), operator>>(), operator>>(), operator>>(), operator>>(), operator>>(), and operator>>().

◆ EatWord()

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 183 of file utility_io.cpp.

References _check_istream(), _EatSpace(), count, and size().

Referenced by operator>>(), operator>>(), and operator>>().

◆ Equal() [1/39]

IMETHOD bool KDL::Equal ( const Frame & a,
const Frame & b,
double eps = epsilon )
inline

Definition at line 1076 of file frames.hpp.

◆ Equal() [2/39]

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

Definition at line 395 of file frameacc.hpp.

◆ Equal() [3/39]

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

Definition at line 77 of file framevel.hpp.

◆ Equal() [4/39]

IMETHOD bool KDL::Equal ( const Frame2 & a,
const Frame2 & b,
double eps = epsilon )
inline

Definition at line 1100 of file frames.hpp.

◆ Equal() [5/39]

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

Definition at line 398 of file frameacc.hpp.

◆ Equal() [6/39]

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

Definition at line 392 of file frameacc.hpp.

◆ Equal() [7/39]

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

Definition at line 80 of file framevel.hpp.

◆ Equal() [8/39]

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

Definition at line 74 of file framevel.hpp.

◆ Equal() [9/39]

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

Definition at line 121 of file jacobian.cpp.

◆ Equal() [10/39]

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 146 of file jntarray.cpp.

◆ Equal() [11/39]

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

Definition at line 167 of file jntarrayacc.cpp.

◆ Equal() [12/39]

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

Definition at line 108 of file jntarrayvel.cpp.

◆ Equal() [13/39]

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 467 of file rall1d.h.

References eps, epsilon, Equal(), INLINE, x, and y.

◆ Equal() [14/39]

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 524 of file rall2d.h.

References eps, epsilon, Equal(), INLINE, x, and y.

◆ Equal() [15/39]

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

Definition at line 157 of file frames.cpp.

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

◆ Equal() [16/39]

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

Definition at line 325 of file frameacc.hpp.

◆ Equal() [17/39]

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

Definition at line 335 of file framevel.hpp.

◆ Equal() [18/39]

IMETHOD bool KDL::Equal ( const Rotation2 & a,
const Rotation2 & b,
double eps = epsilon )
inline

Definition at line 1096 of file frames.hpp.

◆ Equal() [19/39]

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

Definition at line 329 of file frameacc.hpp.

◆ Equal() [20/39]

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

Definition at line 322 of file frameacc.hpp.

◆ Equal() [21/39]

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

Definition at line 338 of file framevel.hpp.

◆ Equal() [22/39]

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

Definition at line 332 of file framevel.hpp.

◆ Equal() [23/39]

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

Definition at line 1086 of file frames.hpp.

◆ Equal() [24/39]

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

Definition at line 589 of file frameacc.hpp.

◆ Equal() [25/39]

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

Definition at line 345 of file framevel.hpp.

◆ Equal() [26/39]

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

Definition at line 593 of file frameacc.hpp.

◆ Equal() [27/39]

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

Definition at line 585 of file frameacc.hpp.

◆ Equal() [28/39]

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

Definition at line 349 of file framevel.hpp.

◆ Equal() [29/39]

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

Definition at line 341 of file framevel.hpp.

◆ Equal() [30/39]

IMETHOD bool KDL::Equal ( const Vector & a,
const Vector & b,
double eps = epsilon )
inline

Definition at line 1069 of file frames.hpp.

◆ Equal() [31/39]

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

Definition at line 165 of file frameacc.hpp.

◆ Equal() [32/39]

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

Definition at line 325 of file framevel.hpp.

◆ Equal() [33/39]

IMETHOD bool KDL::Equal ( const Vector2 & a,
const Vector2 & b,
double eps = epsilon )
inline

Definition at line 1091 of file frames.hpp.

◆ Equal() [34/39]

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

Definition at line 172 of file frameacc.hpp.

◆ Equal() [35/39]

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

Definition at line 158 of file frameacc.hpp.

Referenced by iTaSC::ConstraintSet::closeLoop(), iTaSC::Distance::closeLoop(), Equal(), Equal(), Equal(), KDL::Jacobian::Equal, KDL::JntArray::Equal, KDL::JntArrayAcc::Equal, KDL::JntArrayVel::Equal, KDL::JntArray::operator==, and KDL::Rotation::operator==.

◆ Equal() [36/39]

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

Definition at line 328 of file framevel.hpp.

◆ Equal() [37/39]

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

Definition at line 322 of file framevel.hpp.

◆ Equal() [38/39]

IMETHOD bool KDL::Equal ( const Wrench & a,
const Wrench & b,
double eps = epsilon )
inline

Definition at line 1081 of file frames.hpp.

◆ Equal() [39/39]

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

Definition at line 268 of file utility.h.

References b, eps, and epsilon.

◆ exp() [1/3]

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

Definition at line 295 of file rall1d.h.

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

◆ exp() [2/3]

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

Definition at line 316 of file rall2d.h.

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

◆ exp() [3/3]

double KDL::exp ( double a)
inline

Definition at line 94 of file utility.h.

◆ hypot() [1/2]

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 383 of file rall1d.h.

References hypot(), INLINE, T, v, x, and y.

Referenced by hypot(), and hypot().

◆ hypot() [2/2]

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 470 of file rall2d.h.

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

◆ IOTrace()

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

Definition at line 34 of file error_stack.cpp.

References errorstack.

Referenced by operator>>(), operator>>(), operator>>(), operator>>(), operator>>(), operator>>(), operator>>(), and operator>>().

◆ IOTraceOutput()

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

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

Definition at line 43 of file error_stack.cpp.

References errorstack.

◆ IOTracePop()

void KDL::IOTracePop ( )

pops a description of the IO-stack

Definition at line 39 of file error_stack.cpp.

References errorstack.

Referenced by operator>>(), operator>>(), operator>>(), operator>>(), operator>>(), operator>>(), operator>>(), and operator>>().

◆ IOTracePopStr()

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 51 of file error_stack.cpp.

References errorstack, and size().

◆ LinComb() [1/3]

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

Definition at line 230 of file utility.h.

References b, and beta().

◆ LinComb() [2/3]

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 437 of file rall1d.h.

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

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

◆ LinComb() [3/3]

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 490 of file rall2d.h.

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

◆ LinCombR() [1/3]

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

Definition at line 235 of file utility.h.

References b, beta(), and result.

◆ LinCombR() [2/3]

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 446 of file rall1d.h.

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

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

◆ LinCombR() [3/3]

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 500 of file rall2d.h.

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

◆ log() [1/3]

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

Definition at line 303 of file rall1d.h.

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

◆ log() [2/3]

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

Definition at line 326 of file rall2d.h.

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

◆ log() [3/3]

double KDL::log ( double a)
inline

Definition at line 97 of file utility.h.

◆ max()

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

Definition at line 203 of file utility.h.

References b.

Referenced by iTaSC::Armature::updateJoint().

◆ min()

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

Definition at line 211 of file utility.h.

References b.

Referenced by iTaSC::Armature::updateJoint().

◆ Multiply() [1/6]

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 117 of file jntarray.cpp.

Referenced by KDL::JntArrayAcc::Divide, KDL::JntArrayAcc::Divide, KDL::JntArrayVel::Divide, KDL::JntArrayAcc::Multiply, KDL::JntArrayAcc::Multiply, KDL::JntArrayAcc::Multiply, KDL::JntArrayVel::Multiply, and KDL::JntArrayVel::Multiply.

◆ Multiply() [2/6]

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

Definition at line 100 of file jntarrayacc.cpp.

◆ Multiply() [3/6]

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

Definition at line 116 of file jntarrayacc.cpp.

◆ Multiply() [4/6]

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

Definition at line 106 of file jntarrayacc.cpp.

◆ Multiply() [5/6]

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

Definition at line 76 of file jntarrayvel.cpp.

◆ Multiply() [6/6]

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

Definition at line 81 of file jntarrayvel.cpp.

◆ MultiplyJacobian()

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 131 of file jntarray.cpp.

◆ Norm() [1/3]

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

Definition at line 416 of file rall1d.h.

References INLINE, Norm(), and KDL::Rall1d< T, V, S >::t.

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

◆ Norm() [2/3]

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

Definition at line 481 of file rall2d.h.

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

◆ Norm() [3/3]

double KDL::Norm ( double arg)
inline

Definition at line 255 of file utility.h.

References fabs().

◆ Normalize()

IMETHOD Vector KDL::Normalize ( const Vector & a,
double eps = epsilon )
inline

Definition at line 171 of file frames.hpp.

Referenced by base_callback().

◆ operator!=() [1/5]

IMETHOD bool KDL::operator!= ( const Frame & a,
const Frame & b )

Definition at line 1353 of file frames.hpp.

◆ operator!=() [2/5]

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

Definition at line 1396 of file frames.hpp.

◆ operator!=() [3/5]

IMETHOD bool KDL::operator!= ( const Twist & a,
const Twist & b )

Definition at line 1380 of file frames.hpp.

◆ operator!=() [4/5]

IMETHOD bool KDL::operator!= ( const Vector & a,
const Vector & b )

Definition at line 1367 of file frames.hpp.

◆ operator!=() [5/5]

IMETHOD bool KDL::operator!= ( const Wrench & a,
const Wrench & b )

Definition at line 1393 of file frames.hpp.

◆ operator*() [1/55]

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

Definition at line 491 of file frameacc.hpp.

◆ operator*() [2/55]

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

Definition at line 77 of file frameacc.hpp.

◆ operator*() [3/55]

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

Definition at line 435 of file framevel.hpp.

◆ operator*() [4/55]

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

Definition at line 269 of file framevel.hpp.

◆ operator*() [5/55]

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

Definition at line 416 of file frames.hpp.

◆ operator*() [6/55]

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

Definition at line 356 of file frameacc.hpp.

◆ operator*() [7/55]

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

Definition at line 40 of file framevel.hpp.

◆ operator*() [8/55]

IMETHOD Frame2 KDL::operator* ( const Frame2 & lhs,
const Frame2 & rhs )

Definition at line 967 of file frames.hpp.

◆ operator*() [9/55]

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

Definition at line 352 of file frameacc.hpp.

◆ operator*() [10/55]

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

Definition at line 348 of file frameacc.hpp.

◆ operator*() [11/55]

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

Definition at line 36 of file framevel.hpp.

◆ operator*() [12/55]

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

Definition at line 32 of file framevel.hpp.

◆ operator*() [13/55]

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 221 of file rall1d.h.

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

◆ operator*() [14/55]

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 252 of file rall1d.h.

References INLINE, and v.

◆ operator*() [15/55]

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 234 of file rall2d.h.

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

◆ operator*() [16/55]

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 268 of file rall2d.h.

References INLINE, and v.

◆ operator*() [17/55]

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

Definition at line 177 of file frames.cpp.

◆ operator*() [18/55]

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

Definition at line 253 of file frameacc.hpp.

◆ operator*() [19/55]

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

Definition at line 285 of file framevel.hpp.

◆ operator*() [20/55]

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

Definition at line 198 of file frameacc.hpp.

◆ operator*() [21/55]

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

Definition at line 97 of file framevel.hpp.

◆ operator*() [22/55]

IMETHOD Rotation2 KDL::operator* ( const Rotation2 & lhs,
const Rotation2 & rhs )

Definition at line 907 of file frames.hpp.

◆ operator*() [23/55]

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

Definition at line 202 of file frameacc.hpp.

◆ operator*() [24/55]

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

Definition at line 191 of file frameacc.hpp.

◆ operator*() [25/55]

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

Definition at line 101 of file framevel.hpp.

◆ operator*() [26/55]

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

Definition at line 93 of file framevel.hpp.

◆ operator*() [27/55]

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

Definition at line 366 of file frames.hpp.

◆ operator*() [28/55]

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

Definition at line 486 of file frameacc.hpp.

◆ operator*() [29/55]

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

Definition at line 470 of file frameacc.hpp.

◆ operator*() [30/55]

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

Definition at line 430 of file framevel.hpp.

◆ operator*() [31/55]

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

Definition at line 414 of file framevel.hpp.

◆ operator*() [32/55]

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

Definition at line 119 of file frames.hpp.

◆ operator*() [33/55]

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

Definition at line 92 of file frames.hpp.

◆ operator*() [34/55]

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

Definition at line 62 of file frameacc.hpp.

◆ operator*() [35/55]

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

Definition at line 252 of file framevel.hpp.

◆ operator*() [36/55]

IMETHOD Vector2 KDL::operator* ( const Vector2 & lhs,
double rhs )

Definition at line 802 of file frames.hpp.

◆ operator*() [37/55]

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

Definition at line 58 of file frameacc.hpp.

◆ operator*() [38/55]

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

Definition at line 51 of file frameacc.hpp.

◆ operator*() [39/55]

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

Definition at line 73 of file frameacc.hpp.

◆ operator*() [40/55]

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

Definition at line 84 of file frameacc.hpp.

◆ operator*() [41/55]

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

Definition at line 248 of file framevel.hpp.

◆ operator*() [42/55]

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

Definition at line 244 of file framevel.hpp.

◆ operator*() [43/55]

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

Definition at line 263 of file framevel.hpp.

◆ operator*() [44/55]

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

Definition at line 273 of file framevel.hpp.

◆ operator*() [45/55]

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

Definition at line 263 of file frames.hpp.

◆ operator*() [46/55]

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

Definition at line 371 of file frames.hpp.

◆ operator*() [47/55]

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

Definition at line 475 of file frameacc.hpp.

◆ operator*() [48/55]

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

Definition at line 419 of file framevel.hpp.

◆ operator*() [49/55]

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

Definition at line 101 of file frames.hpp.

◆ operator*() [50/55]

IMETHOD Vector2 KDL::operator* ( double lhs,
const Vector2 & rhs )

Definition at line 807 of file frames.hpp.

◆ operator*() [51/55]

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

Definition at line 268 of file frames.hpp.

◆ operator*() [52/55]

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

Definition at line 69 of file frameacc.hpp.

◆ operator*() [53/55]

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

Definition at line 259 of file framevel.hpp.

◆ operator*() [54/55]

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 246 of file rall1d.h.

References INLINE, and v.

◆ operator*() [55/55]

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 262 of file rall2d.h.

References INLINE, and v.

◆ operator+() [1/18]

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 227 of file rall1d.h.

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

◆ operator+() [2/18]

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 264 of file rall1d.h.

References INLINE, and v.

◆ operator+() [3/18]

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 244 of file rall2d.h.

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

◆ operator+() [4/18]

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 280 of file rall2d.h.

References INLINE, and v.

◆ operator+() [5/18]

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

Definition at line 382 of file frames.hpp.

◆ operator+() [6/18]

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

Definition at line 504 of file frameacc.hpp.

◆ operator+() [7/18]

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

Definition at line 448 of file framevel.hpp.

◆ operator+() [8/18]

IMETHOD Vector KDL::operator+ ( const Vector & lhs,
const Vector & rhs )

Definition at line 66 of file frames.hpp.

◆ operator+() [9/18]

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

Definition at line 30 of file frameacc.hpp.

◆ operator+() [10/18]

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

Definition at line 225 of file framevel.hpp.

◆ operator+() [11/18]

IMETHOD Vector2 KDL::operator+ ( const Vector2 & lhs,
const Vector2 & rhs )

Definition at line 792 of file frames.hpp.

◆ operator+() [12/18]

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

Definition at line 37 of file frameacc.hpp.

◆ operator+() [13/18]

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

Definition at line 23 of file frameacc.hpp.

◆ operator+() [14/18]

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

Definition at line 217 of file framevel.hpp.

◆ operator+() [15/18]

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

Definition at line 209 of file framevel.hpp.

◆ operator+() [16/18]

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

Definition at line 279 of file frames.hpp.

◆ operator+() [17/18]

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 258 of file rall1d.h.

References INLINE, and v.

◆ operator+() [18/18]

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 274 of file rall2d.h.

References INLINE, and v.

◆ operator-() [1/28]

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

Definition at line 240 of file rall1d.h.

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

◆ operator-() [2/28]

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 234 of file rall1d.h.

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

◆ operator-() [3/28]

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 276 of file rall1d.h.

References INLINE, and v.

◆ operator-() [4/28]

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

Definition at line 256 of file rall2d.h.

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

◆ operator-() [5/28]

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 250 of file rall2d.h.

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

◆ operator-() [6/28]

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 292 of file rall2d.h.

References INLINE, and v.

◆ operator-() [7/28]

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

Definition at line 393 of file frames.hpp.

◆ operator-() [8/28]

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

Definition at line 387 of file frames.hpp.

◆ operator-() [9/28]

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

Definition at line 515 of file frameacc.hpp.

◆ operator-() [10/28]

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

Definition at line 509 of file frameacc.hpp.

◆ operator-() [11/28]

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

Definition at line 459 of file framevel.hpp.

◆ operator-() [12/28]

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

Definition at line 453 of file framevel.hpp.

◆ operator-() [13/28]

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

Definition at line 459 of file frames.hpp.

◆ operator-() [14/28]

IMETHOD Vector KDL::operator- ( const Vector & lhs,
const Vector & rhs )

Definition at line 75 of file frames.hpp.

◆ operator-() [15/28]

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

Definition at line 34 of file frameacc.hpp.

◆ operator-() [16/28]

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

Definition at line 229 of file framevel.hpp.

◆ operator-() [17/28]

IMETHOD Vector2 KDL::operator- ( const Vector2 & arg)

Definition at line 852 of file frames.hpp.

◆ operator-() [18/28]

IMETHOD Vector2 KDL::operator- ( const Vector2 & lhs,
const Vector2 & rhs )

Definition at line 797 of file frames.hpp.

◆ operator-() [19/28]

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

Definition at line 46 of file frameacc.hpp.

◆ operator-() [20/28]

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

Definition at line 41 of file frameacc.hpp.

◆ operator-() [21/28]

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

Definition at line 27 of file frameacc.hpp.

◆ operator-() [22/28]

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

Definition at line 234 of file framevel.hpp.

◆ operator-() [23/28]

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

Definition at line 221 of file framevel.hpp.

◆ operator-() [24/28]

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

Definition at line 213 of file framevel.hpp.

◆ operator-() [25/28]

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

Definition at line 290 of file frames.hpp.

◆ operator-() [26/28]

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

Definition at line 284 of file frames.hpp.

◆ operator-() [27/28]

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 270 of file rall1d.h.

References INLINE, and v.

◆ operator-() [28/28]

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 286 of file rall2d.h.

References INLINE, and v.

◆ operator/() [1/18]

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 215 of file rall1d.h.

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

◆ operator/() [2/18]

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 288 of file rall1d.h.

References INLINE, and v.

◆ operator/() [3/18]

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 224 of file rall2d.h.

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

◆ operator/() [4/18]

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 309 of file rall2d.h.

References INLINE, and v.

◆ operator/() [5/18]

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

Definition at line 376 of file frames.hpp.

◆ operator/() [6/18]

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

Definition at line 496 of file frameacc.hpp.

◆ operator/() [7/18]

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

Definition at line 480 of file frameacc.hpp.

◆ operator/() [8/18]

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

Definition at line 440 of file framevel.hpp.

◆ operator/() [9/18]

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

Definition at line 424 of file framevel.hpp.

◆ operator/() [10/18]

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

Definition at line 110 of file frames.hpp.

◆ operator/() [11/18]

IMETHOD Vector2 KDL::operator/ ( const Vector2 & lhs,
double rhs )

Definition at line 812 of file frames.hpp.

◆ operator/() [12/18]

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

Definition at line 179 of file frameacc.hpp.

◆ operator/() [13/18]

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

Definition at line 183 of file frameacc.hpp.

◆ operator/() [14/18]

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

Definition at line 277 of file framevel.hpp.

◆ operator/() [15/18]

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

Definition at line 281 of file framevel.hpp.

◆ operator/() [16/18]

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

Definition at line 273 of file frames.hpp.

◆ operator/() [17/18]

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 282 of file rall1d.h.

References INLINE, and v.

◆ operator/() [18/18]

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 298 of file rall2d.h.

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

◆ operator<<() [1/16]

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.

◆ operator<<() [2/16]

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

Definition at line 108 of file frames_io.cpp.

References T.

◆ operator<<() [3/16]

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

Definition at line 126 of file frames_io.cpp.

References T.

◆ operator<<() [4/16]

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().

◆ operator<<() [5/16]

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

Definition at line 76 of file kinfam_io.cpp.

References i, and KDL_FRAME_WIDTH.

◆ operator<<() [6/16]

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

Definition at line 29 of file kinfam_io.cpp.

References KDL::Joint::getTypeName().

◆ operator<<() [7/16]

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

Definition at line 74 of file frames_io.cpp.

References i, KDL_FRAME_WIDTH, R, x, y, and z().

◆ operator<<() [8/16]

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

Definition at line 121 of file frames_io.cpp.

References R, and rad2deg.

◆ operator<<() [9/16]

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

Definition at line 37 of file kinfam_io.cpp.

◆ operator<<() [10/16]

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.

◆ operator<<() [11/16]

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

Definition at line 58 of file kinfam_io.cpp.

References tree.

◆ operator<<() [12/16]

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

Definition at line 51 of file frames_io.cpp.

References KDL_FRAME_WIDTH, and v.

◆ operator<<() [13/16]

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.

Definition at line 45 of file frames_io.cpp.

References KDL_FRAME_WIDTH, and v.

◆ operator<<() [14/16]

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

Definition at line 114 of file frames_io.cpp.

References KDL_FRAME_WIDTH, and v.

◆ operator<<() [15/16]

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

Definition at line 62 of file frames_io.cpp.

References KDL_FRAME_WIDTH, and v.

◆ operator<<() [16/16]

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

Definition at line 63 of file kinfam_io.cpp.

References i.

◆ operator==() [1/6]

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

Definition at line 1344 of file frames.hpp.

◆ operator==() [2/6]

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

Definition at line 155 of file jntarray.cpp.

◆ operator==() [3/6]

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

The literal equality operator==(), also identical.

Definition at line 377 of file frames.cpp.

◆ operator==() [4/6]

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

Definition at line 1371 of file frames.hpp.

◆ operator==() [5/6]

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

Definition at line 1357 of file frames.hpp.

◆ operator==() [6/6]

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

Definition at line 1384 of file frames.hpp.

◆ operator>>() [1/15]

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

Definition at line 54 of file kinfam_io.cpp.

◆ operator>>() [2/15]

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

Definition at line 254 of file frames_io.cpp.

References deg2rad, KDL::Frame::DH(), Eat(), EatEnd(), EatWord(), IOTrace(), IOTracePop(), and T.

◆ operator>>() [3/15]

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

Definition at line 305 of file frames_io.cpp.

References IOTrace(), IOTracePop(), and T.

◆ operator>>() [4/15]

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

Definition at line 99 of file kinfam_io.cpp.

◆ operator>>() [5/15]

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

Definition at line 84 of file kinfam_io.cpp.

◆ operator>>() [6/15]

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

Definition at line 33 of file kinfam_io.cpp.

◆ operator>>() [7/15]

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

Definition at line 193 of file frames_io.cpp.

References angle(), deg2rad, Eat(), EatEnd(), EatWord(), KDL::Rotation::EulerZYX(), KDL::Rotation::EulerZYZ(), i, KDL::Rotation::Identity(), IOTrace(), IOTracePop(), KDL::Rotation::Rot(), KDL::Rotation::RPY(), and v.

◆ operator>>() [8/15]

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

Definition at line 295 of file frames_io.cpp.

References deg2rad, Eat(), EatEnd(), IOTrace(), IOTracePop(), and KDL::Rotation2::Rot().

◆ operator>>() [9/15]

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

Definition at line 42 of file kinfam_io.cpp.

◆ operator>>() [10/15]

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

Definition at line 64 of file kinfam_io.hpp.

◆ operator>>() [11/15]

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

Definition at line 72 of file kinfam_io.cpp.

References tree.

◆ operator>>() [12/15]

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

Definition at line 155 of file frames_io.cpp.

References Eat(), EatEnd(), IOTrace(), IOTracePop(), and v.

◆ operator>>() [13/15]

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

Definition at line 132 of file frames_io.cpp.

References Eat(), EatEnd(), EatWord(), IOTrace(), IOTracePop(), v, and KDL::Vector::Zero().

◆ operator>>() [14/15]

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

Definition at line 285 of file frames_io.cpp.

References Eat(), EatEnd(), IOTrace(), IOTracePop(), and v.

◆ operator>>() [15/15]

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

Definition at line 174 of file frames_io.cpp.

References Eat(), EatEnd(), IOTrace(), IOTracePop(), and v.

◆ posrandom() [1/11]

void KDL::posrandom ( double & a)
inline

Definition at line 278 of file utility.h.

◆ posrandom() [2/11]

IMETHOD void KDL::posrandom ( doubleVel & F)

Definition at line 48 of file framevel.hpp.

References F, and IMETHOD.

◆ posrandom() [3/11]

IMETHOD void KDL::posrandom ( Frame & F)

Definition at line 1336 of file frames.hpp.

◆ posrandom() [4/11]

IMETHOD void KDL::posrandom ( FrameVel & F)

Definition at line 378 of file framevel.hpp.

References F, IMETHOD, and posrandom().

◆ posrandom() [5/11]

IMETHOD void KDL::posrandom ( Rotation & R)

Definition at line 1326 of file frames.hpp.

◆ posrandom() [6/11]

IMETHOD void KDL::posrandom ( RotationVel & R)

Definition at line 373 of file framevel.hpp.

References IMETHOD, posrandom(), and R.

◆ posrandom() [7/11]

IMETHOD void KDL::posrandom ( Twist & a)

Definition at line 1317 of file frames.hpp.

◆ posrandom() [8/11]

IMETHOD void KDL::posrandom ( TwistVel & a)

Definition at line 368 of file framevel.hpp.

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

◆ posrandom() [9/11]

IMETHOD void KDL::posrandom ( Vector & a)

Definition at line 1312 of file frames.hpp.

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

◆ posrandom() [10/11]

IMETHOD void KDL::posrandom ( VectorVel & a)

Definition at line 364 of file framevel.hpp.

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

◆ posrandom() [11/11]

IMETHOD void KDL::posrandom ( Wrench & a)

Definition at line 1321 of file frames.hpp.

◆ pow() [1/3]

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 359 of file rall1d.h.

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

◆ pow() [2/3]

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 393 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, INLINE, pow, T, KDL::Rall2d< T, V, S >::t, and v2.

◆ pow() [3/3]

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

Definition at line 124 of file utility.h.

References b.

◆ PYTHAG()

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

Definition at line 33 of file svd_eigen_HH.hpp.

References b, fabs(), and sqrt.

Referenced by svd_eigen_HH().

◆ random() [1/11]

void KDL::random ( double & a)
inline

Definition at line 274 of file utility.h.

◆ random() [2/11]

IMETHOD void KDL::random ( doubleVel & F)

Definition at line 44 of file framevel.hpp.

References F, and IMETHOD.

◆ random() [3/11]

IMETHOD void KDL::random ( Frame & F)

Definition at line 1307 of file frames.hpp.

◆ random() [4/11]

IMETHOD void KDL::random ( FrameVel & F)

Definition at line 360 of file framevel.hpp.

References F, IMETHOD, and random().

◆ random() [5/11]

IMETHOD void KDL::random ( Rotation & R)

Definition at line 1297 of file frames.hpp.

◆ random() [6/11]

IMETHOD void KDL::random ( RotationVel & R)

Definition at line 355 of file framevel.hpp.

References IMETHOD, and R.

◆ random() [7/11]

IMETHOD void KDL::random ( Twist & a)

Definition at line 1288 of file frames.hpp.

◆ random() [8/11]

IMETHOD void KDL::random ( TwistVel & a)

Definition at line 350 of file framevel.hpp.

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

◆ random() [9/11]

IMETHOD void KDL::random ( Vector & a)

addDelta operator for displacement rotational velocity.

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

Parameters
a: displacement rotational velocity
da: rotational velocity
Returns
displacement rotational velocity
Warning
do not confuse displacement rotational velocities and velocities
do not confuse displacement twist and twist.

IMETHOD Vector addDelta_displ(const Vector& a,const Vector&da,double dt) { return getRot(addDelta(Rot(a),da,dt)); }

addDelta operator for displacement twist.

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

Parameters
a: displacement twist
da: twist
Returns
displacement twist
Warning
do not confuse displacement rotational velocities and velocities
do not confuse displacement twist and twist.

IMETHOD Twist addDelta_displ(const Twist& a,const Twist&da,double dt) { return Twist(addDelta(a.vel,da.vel,dt),addDelta_displ(a.rot,da.rot,dt)); }

Definition at line 1283 of file frames.hpp.

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

◆ random() [10/11]

IMETHOD void KDL::random ( VectorVel & a)

Definition at line 346 of file framevel.hpp.

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

◆ random() [11/11]

IMETHOD void KDL::random ( Wrench & a)

Definition at line 1292 of file frames.hpp.

◆ Rot()

IMETHOD Rotation KDL::Rot ( const Vector & axis_a_b)

axis_a_b is a rotation vector, its norm is a rotation angle axis_a_b rotates the a frame towards the b frame. This routine returns the rotation matrix R_a_b

Definition at line 1144 of file frames.hpp.

Referenced by KDL::Joint::pose(), and iTaSC::Armature::updateJoint().

◆ SetToIdentity() [1/3]

void KDL::SetToIdentity ( double & arg)
inline

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

Definition at line 246 of file utility.h.

◆ SetToIdentity() [2/3]

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

Definition at line 460 of file rall1d.h.

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

Referenced by KDL::Rall1d< double >::Identity(), KDL::Rall2d< double, double, double >::Identity(), SetToIdentity(), and SetToIdentity().

◆ SetToIdentity() [3/3]

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

Definition at line 516 of file rall2d.h.

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

◆ SetToZero() [1/13]

void KDL::SetToZero ( double & arg)
inline

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

Definition at line 241 of file utility.h.

◆ SetToZero() [2/13]

void KDL::SetToZero ( Jacobian & jac)

Definition at line 81 of file jacobian.cpp.

◆ SetToZero() [3/13]

void KDL::SetToZero ( JntArray & array)

Function to set all the values of the array to 0

Parameters
array

Definition at line 140 of file jntarray.cpp.

◆ SetToZero() [4/13]

void KDL::SetToZero ( JntArrayAcc & array)

Definition at line 160 of file jntarrayacc.cpp.

◆ SetToZero() [5/13]

void KDL::SetToZero ( JntArrayVel & array)

Definition at line 102 of file jntarrayvel.cpp.

◆ SetToZero() [6/13]

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

Definition at line 454 of file rall1d.h.

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

◆ SetToZero() [7/13]

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

Definition at line 508 of file rall2d.h.

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

◆ SetToZero() [8/13]

IMETHOD void KDL::SetToZero ( Twist & v)

Definition at line 1108 of file frames.hpp.

◆ SetToZero() [9/13]

void KDL::SetToZero ( TwistVel & v)

Definition at line 464 of file framevel.hpp.

◆ SetToZero() [10/13]

IMETHOD void KDL::SetToZero ( Vector & v)

Definition at line 1105 of file frames.hpp.

Referenced by KDL::ChainJntToJacSolver::JntToJac(), KDL::TreeJntToJacSolver::JntToJac(), KDL::JntArray::MultiplyJacobian, KDL::Rall1d< double >::operator=(), KDL::Rall2d< double, double, double >::operator=(), KDL::Rall1d< double >::Rall1d(), KDL::Rall2d< double, double, double >::Rall2d(), KDL::Rall2d< double, double, double >::Rall2d(), SetToIdentity(), SetToIdentity(), KDL::Jacobian::SetToZero, KDL::JntArrayAcc::SetToZero, KDL::JntArrayVel::SetToZero, SetToZero(), SetToZero(), KDL::Rall1d< double >::Zero(), and KDL::Rall2d< double, double, double >::Zero().

◆ SetToZero() [11/13]

IMETHOD void KDL::SetToZero ( Vector2 & v)

Definition at line 1117 of file frames.hpp.

◆ SetToZero() [12/13]

void KDL::SetToZero ( VectorVel & v)

Definition at line 238 of file framevel.hpp.

◆ SetToZero() [13/13]

IMETHOD void KDL::SetToZero ( Wrench & v)

Definition at line 1112 of file frames.hpp.

◆ SIGN()

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

Definition at line 51 of file svd_eigen_HH.hpp.

References b, and fabs().

Referenced by svd_eigen_HH().

◆ sign()

double KDL::sign ( double arg)
inline

Definition at line 250 of file utility.h.

Referenced by KDL::Rotation::GetRPY(), and iTaSC::Distance::updateControlOutput().

◆ sin() [1/3]

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

Definition at line 311 of file rall1d.h.

References cos, KDL::Rall1d< T, V, S >::grad, INLINE, sin, T, KDL::Rall1d< T, V, S >::t, and v.

Referenced by base_callback(), and KDL::Rotation2::Rotation2().

◆ sin() [2/3]

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

Definition at line 336 of file rall2d.h.

References cos, KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, INLINE, sin, T, KDL::Rall2d< T, V, S >::t, and v2.

◆ sin() [3/3]

double KDL::sin ( double a)
inline

Definition at line 87 of file utility.h.

◆ sinh() [1/3]

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

Definition at line 335 of file rall1d.h.

References cosh, KDL::Rall1d< T, V, S >::grad, INLINE, sinh, T, KDL::Rall1d< T, V, S >::t, and v.

◆ sinh() [2/3]

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

Definition at line 360 of file rall2d.h.

References cosh, KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, INLINE, sinh, T, KDL::Rall2d< T, V, S >::t, and v2.

◆ sinh() [3/3]

double KDL::sinh ( double a)
inline

Definition at line 106 of file utility.h.

◆ sqr() [1/3]

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

Definition at line 351 of file rall1d.h.

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

Referenced by atan(), copypose_error(), iTaSC::WDLSSolver::solve(), tan(), tanh(), and iTaSC::Armature::updateJoint().

◆ sqr() [2/3]

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

Definition at line 384 of file rall2d.h.

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

◆ sqr() [3/3]

double KDL::sqr ( double arg)
inline

Definition at line 254 of file utility.h.

◆ sqrt() [1/3]

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

Definition at line 367 of file rall1d.h.

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

Referenced by acos(), asin(), copypose_error(), EulerAngleFromMatrix(), and iTaSC::Armature::updateJoint().

◆ sqrt() [2/3]

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

Definition at line 404 of file rall2d.h.

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

◆ sqrt() [3/3]

double KDL::sqrt ( double a)
inline

Definition at line 109 of file utility.h.

◆ Subtract() [1/6]

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 110 of file jntarray.cpp.

Referenced by KDL::JntArrayAcc::Divide, KDL::JntArrayAcc::Divide, KDL::JntArrayVel::Divide, KDL::JntArrayAcc::Subtract, KDL::JntArrayAcc::Subtract, KDL::JntArrayAcc::Subtract, KDL::JntArrayVel::Subtract, and KDL::JntArrayVel::Subtract.

◆ Subtract() [2/6]

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

Definition at line 93 of file jntarrayacc.cpp.

◆ Subtract() [3/6]

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

Definition at line 81 of file jntarrayacc.cpp.

◆ Subtract() [4/6]

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

Definition at line 87 of file jntarrayacc.cpp.

◆ Subtract() [5/6]

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

Definition at line 70 of file jntarrayvel.cpp.

◆ Subtract() [6/6]

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

Definition at line 65 of file jntarrayvel.cpp.

◆ svd_eigen_HH()

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 A, e_scalar, fabs(), flag, i, PYTHAG(), SIGN(), sqrt, U, V, x, y, and z().

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

◆ tan() [1/3]

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

Definition at line 327 of file rall1d.h.

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

◆ tan() [2/3]

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

Definition at line 352 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, INLINE, sqr, T, KDL::Rall2d< T, V, S >::t, tan, and v2.

◆ tan() [3/3]

double KDL::tan ( double a)
inline

Definition at line 100 of file utility.h.

◆ tanh() [1/3]

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

Definition at line 422 of file rall1d.h.

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

◆ tanh() [2/3]

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

Definition at line 376 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, INLINE, sqr, T, KDL::Rall2d< T, V, S >::t, tanh, and v2.

◆ tanh() [3/3]

double KDL::tanh ( double a)
inline

Definition at line 121 of file utility.h.

◆ Upper()

char KDL::Upper ( char ch)
inline

Definition at line 142 of file utility_io.cpp.

Referenced by Eat().

Variable Documentation

◆ deg2rad

const double KDL::deg2rad = 0.01745329251994329576923690768488

the value pi/180

Definition at line 20 of file utility.cpp.

Referenced by operator>>(), operator>>(), and operator>>().

◆ epsilon

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 convert_tree(), iTaSC::Distance::Distance(), Equal(), Equal(), Equal(), KDL::Frame::Equal, EulerAngleFromMatrix(), iTaSC::Armature::finalize(), KDL::Frame2::Frame2(), KDL::Rotation::GetEulerZYZ(), KDL::Rotation::GetRot(), KDL::Rotation::GetRPY(), KDL::Rotation::GetXZRot(), init_scene(), KDL::VectorVel::Norm(), KDL::RotationAcc::operator*(), KDL::VectorAcc::operator*, KDL::Wrench::operator*, KDL::Twist::operator-, KDL::Wrench::operator-=(), KDL::VectorVel::ReverseSign(), iTaSC::Distance::setControlParameters(), iTaSC::WDLSSolver::solve(), iTaSC::WSDLSSolver::solve(), iTaSC::Scene::update(), iTaSC::Armature::updateJoint(), iTaSC::Distance::updateKinematics(), and KDL::VectorVel::Zero().

◆ epsilon2

double KDL::epsilon2 = 0.000001*0.000001

power or 2 of epsilon

Definition at line 23 of file utility.cpp.

Referenced by iTaSC::Armature::updateJoint().

◆ errorstack

ErrorStack KDL::errorstack

Definition at line 30 of file error_stack.cpp.

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

◆ MAXLENFILENAME

int KDL::MAXLENFILENAME = 255

maximal length of a file name

Definition at line 18 of file utility.cpp.

◆ PI

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().

◆ rad2deg

const double KDL::rad2deg = 57.2957795130823208767981548141052

the value 180/pi

Definition at line 21 of file utility.cpp.

Referenced by operator<<().

◆ STREAMBUFFERSIZE

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.

◆ VSIZE

int KDL::VSIZE
extern

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

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