KDL::Rall2d< T, V, S > Class Template Reference

#include <rall2d.h>

Public Member Functions
INLINE	Rall2d ()
INLINE	Rall2d (typename TI< T >::Arg c)
INLINE	Rall2d (typename TI< T >::Arg tn, const V &afg)
INLINE	Rall2d (typename TI< T >::Arg tn, const V &afg, const V &afg2)
INLINE	Rall2d (const Rall2d< T, V, S > &r)
INLINE T &	Value ()
INLINE V &	D ()
INLINE V &	DD ()
INLINE Rall2d< T, V, S > &	operator= (S c)
INLINE Rall2d< T, V, S > &	operator= (const Rall2d< T, V, S > &r)
INLINE Rall2d< T, V, S > &	operator/= (const Rall2d< T, V, S > &rhs)
INLINE Rall2d< T, V, S > &	operator*= (const Rall2d< T, V, S > &rhs)
INLINE Rall2d< T, V, S > &	operator+= (const Rall2d< T, V, S > &rhs)
INLINE Rall2d< T, V, S > &	operator-= (const Rall2d< T, V, S > &rhs)
INLINE Rall2d< T, V, S > &	operator/= (S rhs)
INLINE Rall2d< T, V, S > &	operator*= (S rhs)
INLINE Rall2d< T, V, S > &	operator-= (S rhs)
INLINE Rall2d< T, V, S > &	operator+= (S rhs)

Static Public Member Functions
static INLINE Rall2d< T, V, S >	Zero ()
static INLINE Rall2d< T, V, S >	Identity ()

Public Attributes
T	t
	value
V	d
	1st derivative
V	dd
	2nd derivative

Detailed Description

template<class T, class V = T, class S = T>
class KDL::Rall2d< T, V, S >

Rall2d contains a value, and its gradient and its 2nd derivative, and defines an algebraic structure on this pair. This template class has 3 template parameters :

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

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

S is always passed by value.

Class Type

Concrete implementation

Definition at line 52 of file rall2d.h.

Constructor & Destructor Documentation

Rall2d() [1/5]

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

INLINE KDL::Rall2d< T, V, S >::Rall2d ( )

inline

Definition at line 60 of file rall2d.h.

Rall2d() [2/5]

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

INLINE KDL::Rall2d< T, V, S >::Rall2d ( typename TI< T >::Arg c )

inlineexplicit

Definition at line 62 of file rall2d.h.

Rall2d() [3/5]

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

INLINE KDL::Rall2d< T, V, S >::Rall2d ( typename TI< T >::Arg tn, const V & afg )

inline

Definition at line 65 of file rall2d.h.

Rall2d() [4/5]

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

INLINE KDL::Rall2d< T, V, S >::Rall2d ( typename TI< T >::Arg tn, const V & afg, const V & afg2 )

inline

Definition at line 67 of file rall2d.h.

Rall2d() [5/5]

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

INLINE KDL::Rall2d< T, V, S >::Rall2d ( const Rall2d< T, V, S > & r )

inline

Definition at line 70 of file rall2d.h.

Member Function Documentation

D()

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

INLINE V & KDL::Rall2d< T, V, S >::D ( )

inline

Definition at line 80 of file rall2d.h.

DD()

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

INLINE V & KDL::Rall2d< T, V, S >::DD ( )

inline

Definition at line 84 of file rall2d.h.

Identity()

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

INLINE Rall2d< T, V, S > KDL::Rall2d< T, V, S >::Identity ( )

inlinestatic

Definition at line 92 of file rall2d.h.

operator*=() [1/2]

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

INLINE Rall2d< T, V, S > & KDL::Rall2d< T, V, S >::operator*= ( const Rall2d< T, V, S > & rhs )

inline

Definition at line 113 of file rall2d.h.

operator*=() [2/2]

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

INLINE Rall2d< T, V, S > & KDL::Rall2d< T, V, S >::operator*= ( S rhs )

inline

Definition at line 145 of file rall2d.h.

operator+=() [1/2]

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

INLINE Rall2d< T, V, S > & KDL::Rall2d< T, V, S >::operator+= ( const Rall2d< T, V, S > & rhs )

inline

Definition at line 121 of file rall2d.h.

operator+=() [2/2]

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

INLINE Rall2d< T, V, S > & KDL::Rall2d< T, V, S >::operator+= ( S rhs )

inline

Definition at line 159 of file rall2d.h.

operator-=() [1/2]

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

INLINE Rall2d< T, V, S > & KDL::Rall2d< T, V, S >::operator-= ( const Rall2d< T, V, S > & rhs )

inline

Definition at line 129 of file rall2d.h.

operator-=() [2/2]

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

INLINE Rall2d< T, V, S > & KDL::Rall2d< T, V, S >::operator-= ( S rhs )

inline

Definition at line 153 of file rall2d.h.

operator/=() [1/2]

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

INLINE Rall2d< T, V, S > & KDL::Rall2d< T, V, S >::operator/= ( const Rall2d< T, V, S > & rhs )

inline

Definition at line 105 of file rall2d.h.

operator/=() [2/2]

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

INLINE Rall2d< T, V, S > & KDL::Rall2d< T, V, S >::operator/= ( S rhs )

inline

Definition at line 137 of file rall2d.h.

operator=() [1/2]

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

INLINE Rall2d< T, V, S > & KDL::Rall2d< T, V, S >::operator= ( const Rall2d< T, V, S > & r )

inline

Definition at line 102 of file rall2d.h.

operator=() [2/2]

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

INLINE Rall2d< T, V, S > & KDL::Rall2d< T, V, S >::operator= ( S c )

inline

Definition at line 99 of file rall2d.h.

Value()

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

INLINE T & KDL::Rall2d< T, V, S >::Value ( )

inline

Definition at line 76 of file rall2d.h.

Zero()

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

INLINE Rall2d< T, V, S > KDL::Rall2d< T, V, S >::Zero ( )

inlinestatic

Definition at line 87 of file rall2d.h.

Member Data Documentation

d

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

V KDL::Rall2d< T, V, S >::d

1st derivative

Definition at line 56 of file rall2d.h.

Referenced by KDL::acos(), KDL::asin(), KDL::atan(), KDL::atan2(), KDL::cos(), KDL::cosh(), KDL::JntArrayAcc::Divide, KDL::exp(), KDL::hypot(), KDL::LinComb(), KDL::LinCombR(), KDL::log(), KDL::JntArrayAcc::Multiply, KDL::operator*(), KDL::operator+(), KDL::operator-(), KDL::operator-(), KDL::operator/(), KDL::operator/(), KDL::Rall2d< double, double, double >::operator=(), KDL::pow(), KDL::SetToIdentity(), KDL::SetToZero(), KDL::sin(), KDL::sinh(), KDL::sqr(), KDL::sqrt(), KDL::tan(), and KDL::tanh().

dd

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

V KDL::Rall2d< T, V, S >::dd

2nd derivative

Definition at line 57 of file rall2d.h.

Referenced by KDL::acos(), KDL::asin(), KDL::atan(), KDL::atan2(), KDL::cos(), KDL::cosh(), KDL::JntArrayAcc::Divide, KDL::exp(), KDL::hypot(), KDL::LinComb(), KDL::LinCombR(), KDL::log(), KDL::JntArrayAcc::Multiply, KDL::operator*(), KDL::operator+(), KDL::operator-(), KDL::operator-(), KDL::operator/(), KDL::operator/(), KDL::Rall2d< double, double, double >::operator=(), KDL::pow(), KDL::SetToIdentity(), KDL::SetToZero(), KDL::sin(), KDL::sinh(), KDL::sqr(), KDL::sqrt(), KDL::tan(), and KDL::tanh().

t

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

T KDL::Rall2d< T, V, S >::t

value

Definition at line 55 of file rall2d.h.

Referenced by KDL::acos(), KDL::asin(), KDL::atan(), KDL::atan2(), KDL::cos(), KDL::cosh(), KDL::JntArrayAcc::Divide, KDL::exp(), KDL::hypot(), KDL::LinComb(), KDL::LinCombR(), KDL::log(), KDL::JntArrayAcc::Multiply, KDL::Norm(), KDL::operator*(), KDL::operator+(), KDL::operator-(), KDL::operator-(), KDL::operator/(), KDL::operator/(), KDL::Rall2d< double, double, double >::operator=(), KDL::pow(), KDL::SetToIdentity(), KDL::SetToZero(), KDL::sin(), KDL::sinh(), KDL::sqr(), KDL::sqrt(), KDL::tan(), and KDL::tanh().

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

• rall2d.h