utility.h File Reference

#include "kdl-config.h"
#include <cstdlib>
#include <cassert>
#include <cmath>

Go to the source code of this file.

Classes
class	KDL::TI< T >
class	KDL::TI< double >
class	KDL::TI< int >

Namespaces
namespace	KDL

Macros
#define	IMETHOD   inline
#define	FRAMES_CHECKI(a)
#define	INLINE   inline

Functions
double	KDL::sin (double a)
double	KDL::cos (double a)
double	KDL::exp (double a)
double	KDL::log (double a)
double	KDL::tan (double a)
double	KDL::cosh (double a)
double	KDL::sinh (double a)
double	KDL::sqrt (double a)
double	KDL::atan (double a)
double	KDL::acos (double a)
double	KDL::asin (double a)
double	KDL::tanh (double a)
double	KDL::pow (double a, double b)
double	KDL::atan2 (double a, double b)
double	KDL::max (double a, double b)
double	KDL::min (double a, double b)
double	KDL::LinComb (double alfa, double a, double beta, double b)
void	KDL::LinCombR (double alfa, double a, double beta, double b, double &result)
void	KDL::SetToZero (double &arg)
	to uniformly set double, RNDouble,Vector,... objects to zero in template-classes
void	KDL::SetToIdentity (double &arg)
	to uniformly set double, RNDouble,Vector,... objects to the identity element in template-classes
double	KDL::sign (double arg)
double	KDL::sqr (double arg)
double	KDL::Norm (double arg)
bool	KDL::Equal (double a, double b, double eps=epsilon)
void	KDL::random (double &a)
void	KDL::posrandom (double &a)
double	KDL::diff (double a, double b, double dt)
double	KDL::addDelta (double a, double da, double dt)

Variables
int	KDL::VSIZE
	the number of derivatives used in the RN-... objects.

Macro Definition Documentation

FRAMES_CHECKI

#define FRAMES_CHECKI

(

a

)

Value:

assert(a)

turn on or off frames bounds checking. If turned on, assert() can still be turned off with -DNDEBUG.

Definition at line 54 of file utility.h.

IMETHOD

#define IMETHOD   inline

Definition at line 43 of file utility.h.

Referenced by addDelta(), addDelta(), addDelta(), addDelta(), addDelta(), KDL::addDelta(), KDL::addDelta(), KDL::addDelta(), diff(), diff(), diff(), diff(), diff(), KDL::diff(), KDL::diff(), KDL::RotationVel::DoRotX(), dot(), dot(), dot(), dot(), dot(), dot(), KDL::VectorAcc::dot, Equal(), Equal(), Equal(), Equal(), Equal(), Equal(), Equal(), KDL::RotationVel::Equal, KDL::Twist::Equal, KDL::VectorAcc::Equal, KDL::VectorAcc::Equal, KDL::VectorAcc::Equal, KDL::Wrench::Equal, KDL::FrameVel::GetFrame(), KDL::FrameVel::GetTwist(), KDL::RotationAcc::Identity(), KDL::RotationAcc::Inverse(), KDL::RotationVel::Inverse(), KDL::VectorAcc::Norm(), KDL::VectorVel::Norm(), Normalize(), operator!=(), operator!=(), operator!=(), operator!=(), operator!=(), KDL::FrameVel::operator*, KDL::FrameVel::operator*, KDL::RotationAcc::operator*, KDL::RotationAcc::operator*(), KDL::RotationVel::operator*, KDL::RotationVel::operator*, KDL::RotationVel::operator*, KDL::RotationVel::operator*(), KDL::RotationVel::operator*(), KDL::VectorAcc::operator*, KDL::VectorAcc::operator*, KDL::VectorAcc::operator*, KDL::VectorAcc::operator*, KDL::VectorAcc::operator*, KDL::VectorAcc::operator*, KDL::VectorAcc::operator*, KDL::VectorVel::operator*, KDL::VectorVel::operator*, KDL::VectorVel::operator*, KDL::VectorVel::operator*, operator*(), operator*(), operator*(), operator*(), KDL::VectorVel::operator+, KDL::VectorVel::operator+, KDL::VectorVel::operator+, operator+(), operator+(), KDL::VectorAcc::operator+=(), KDL::VectorVel::operator+=(), KDL::VectorVel::operator-, KDL::VectorVel::operator-, KDL::VectorVel::operator-, operator-(), operator-(), operator-(), KDL::VectorAcc::operator/, KDL::VectorVel::operator/, KDL::VectorVel::operator/, operator/(), KDL::RotationAcc::operator=(), KDL::RotationAcc::operator=(), KDL::RotationVel::operator=(), KDL::RotationVel::operator=(), KDL::VectorVel::operator=(), operator==(), operator==(), operator==(), operator==(), KDL::posrandom(), KDL::posrandom(), KDL::posrandom(), KDL::posrandom(), KDL::posrandom(), posrandom(), posrandom(), posrandom(), posrandom(), posrandom(), KDL::random(), KDL::random(), KDL::random(), KDL::random(), KDL::random(), random(), random(), random(), random(), random(), KDL::VectorVel::ReverseSign(), Rot(), KDL::RotationVel::RotX(), KDL::TwistAcc::SetToZero, SetToZero(), SetToZero(), SetToZero(), SetToZero(), KDL::RotationVel::UnitX(), and KDL::VectorVel::Zero().

INLINE

#define INLINE   inline

Definition at line 226 of file utility.h.

Referenced by KDL::abs(), KDL::abs(), KDL::acos(), KDL::acos(), KDL::asin(), KDL::asin(), KDL::atan(), KDL::atan(), KDL::atan2(), KDL::atan2(), KDL::cos(), KDL::cos(), KDL::cosh(), KDL::cosh(), KDL::Rall2d< double, double, double >::D(), KDL::Rall2d< double, double, double >::DD(), KDL::Equal(), KDL::Equal(), KDL::exp(), KDL::exp(), KDL::Rall1d< double >::Gradient(), KDL::hypot(), KDL::hypot(), KDL::Rall1d< double >::Identity(), KDL::Rall2d< double, double, double >::Identity(), KDL::LinComb(), KDL::LinComb(), KDL::LinCombR(), KDL::LinCombR(), KDL::log(), KDL::log(), KDL::Norm(), KDL::Norm(), KDL::operator*(), KDL::operator*(), KDL::operator*(), KDL::operator*(), KDL::operator*(), KDL::operator*(), KDL::Rall1d< double >::operator*=(), KDL::Rall1d< double >::operator*=(), KDL::Rall2d< double, double, double >::operator*=(), KDL::Rall2d< double, double, double >::operator*=(), KDL::operator+(), KDL::operator+(), KDL::operator+(), KDL::operator+(), KDL::operator+(), KDL::operator+(), KDL::Rall1d< double >::operator+=(), KDL::Rall1d< double >::operator+=(), KDL::Rall2d< double, double, double >::operator+=(), KDL::Rall2d< double, double, double >::operator+=(), KDL::operator-(), KDL::operator-(), KDL::operator-(), KDL::operator-(), KDL::operator-(), KDL::operator-(), KDL::operator-(), KDL::operator-(), KDL::Rall1d< double >::operator-=(), KDL::Rall1d< double >::operator-=(), KDL::Rall2d< double, double, double >::operator-=(), KDL::Rall2d< double, double, double >::operator-=(), KDL::operator/(), KDL::operator/(), KDL::operator/(), KDL::operator/(), KDL::operator/(), KDL::operator/(), KDL::Rall1d< double >::operator/=(), KDL::Rall1d< double >::operator/=(), KDL::Rall2d< double, double, double >::operator/=(), KDL::Rall2d< double, double, double >::operator/=(), KDL::Rall1d< double >::operator=(), KDL::Rall1d< double >::operator=(), KDL::Rall2d< double, double, double >::operator=(), KDL::Rall2d< double, double, double >::operator=(), KDL::pow(), KDL::pow(), KDL::Rall1d< double >::Rall1d(), KDL::Rall1d< double >::Rall1d(), KDL::Rall1d< double >::Rall1d(), KDL::Rall1d< double >::Rall1d(), KDL::Rall2d< double, double, double >::Rall2d(), KDL::Rall2d< double, double, double >::Rall2d(), KDL::Rall2d< double, double, double >::Rall2d(), KDL::Rall2d< double, double, double >::Rall2d(), KDL::Rall2d< double, double, double >::Rall2d(), KDL::SetToIdentity(), KDL::SetToIdentity(), KDL::SetToZero(), KDL::SetToZero(), KDL::sin(), KDL::sin(), KDL::sinh(), KDL::sinh(), KDL::sqr(), KDL::sqr(), KDL::sqrt(), KDL::sqrt(), KDL::tan(), KDL::tan(), KDL::tanh(), KDL::tanh(), KDL::Rall1d< double >::Value(), KDL::Rall2d< double, double, double >::Value(), KDL::Rall1d< double >::Zero(), and KDL::Rall2d< double, double, double >::Zero().