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Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
KDL::Rall1d< T, V, S > Class Template Reference

#include <rall1d.h>

Public Types

typedef T valuetype
typedef V gradienttype
typedef S scalartype

Public Member Functions

INLINE Rall1d ()
T value () const
V deriv () const
INLINE Rall1d (typename TI< T >::Arg c)
INLINE Rall1d (typename TI< T >::Arg tn, typename TI< V >::Arg afg)
INLINE Rall1d (const Rall1d< T, V, S > &r)
INLINE T & Value ()
INLINE V & Gradient ()
INLINE Rall1d< T, V, S > & operator= (S c)
INLINE Rall1d< T, V, S > & operator= (const Rall1d< T, V, S > &r)
INLINE Rall1d< T, V, S > & operator/= (const Rall1d< T, V, S > &rhs)
INLINE Rall1d< T, V, S > & operator*= (const Rall1d< T, V, S > &rhs)
INLINE Rall1d< T, V, S > & operator+= (const Rall1d< T, V, S > &rhs)
INLINE Rall1d< T, V, S > & operator-= (const Rall1d< T, V, S > &rhs)
INLINE Rall1d< T, V, S > & operator/= (S rhs)
INLINE Rall1d< T, V, S > & operator*= (S rhs)
INLINE Rall1d< T, V, S > & operator+= (S rhs)
INLINE Rall1d< T, V, S > & operator-= (S rhs)

Static Public Member Functions

static INLINE Rall1d< T, V, S > Zero ()
static INLINE Rall1d< T, V, S > Identity ()

Public Attributes

T t
 value
V grad
 gradient

Detailed Description

template<typename T, typename V = T, typename S = T>
class KDL::Rall1d< T, V, S >

Rall1d contains a value, and its gradient, 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 47 of file rall1d.h.

Member Typedef Documentation

◆ gradienttype

template<typename T, typename V = T, typename S = T>
typedef V KDL::Rall1d< T, V, S >::gradienttype

Definition at line 51 of file rall1d.h.

◆ scalartype

template<typename T, typename V = T, typename S = T>
typedef S KDL::Rall1d< T, V, S >::scalartype

Definition at line 52 of file rall1d.h.

◆ valuetype

template<typename T, typename V = T, typename S = T>
typedef T KDL::Rall1d< T, V, S >::valuetype

Definition at line 50 of file rall1d.h.

Constructor & Destructor Documentation

◆ Rall1d() [1/4]

template<typename T, typename V = T, typename S = T>
INLINE KDL::Rall1d< T, V, S >::Rall1d ( )
inline

Definition at line 57 of file rall1d.h.

◆ Rall1d() [2/4]

template<typename T, typename V = T, typename S = T>
INLINE KDL::Rall1d< T, V, S >::Rall1d ( typename TI< T >::Arg c)
inlineexplicit

Definition at line 66 of file rall1d.h.

◆ Rall1d() [3/4]

template<typename T, typename V = T, typename S = T>
INLINE KDL::Rall1d< T, V, S >::Rall1d ( typename TI< T >::Arg tn,
typename TI< V >::Arg afg )
inline

Definition at line 69 of file rall1d.h.

◆ Rall1d() [4/4]

template<typename T, typename V = T, typename S = T>
INLINE KDL::Rall1d< T, V, S >::Rall1d ( const Rall1d< T, V, S > & r)
inline

Definition at line 71 of file rall1d.h.

Member Function Documentation

◆ deriv()

template<typename T, typename V = T, typename S = T>
V KDL::Rall1d< T, V, S >::deriv ( ) const
inline

Definition at line 62 of file rall1d.h.

◆ Gradient()

template<typename T, typename V = T, typename S = T>
INLINE V & KDL::Rall1d< T, V, S >::Gradient ( )
inline

Definition at line 80 of file rall1d.h.

◆ Identity()

template<typename T, typename V = T, typename S = T>
INLINE Rall1d< T, V, S > KDL::Rall1d< T, V, S >::Identity ( )
inlinestatic

Definition at line 89 of file rall1d.h.

◆ operator*=() [1/2]

template<typename T, typename V = T, typename S = T>
INLINE Rall1d< T, V, S > & KDL::Rall1d< T, V, S >::operator*= ( const Rall1d< T, V, S > & rhs)
inline

Definition at line 108 of file rall1d.h.

◆ operator*=() [2/2]

template<typename T, typename V = T, typename S = T>
INLINE Rall1d< T, V, S > & KDL::Rall1d< T, V, S >::operator*= ( S rhs)
inline

Definition at line 136 of file rall1d.h.

◆ operator+=() [1/2]

template<typename T, typename V = T, typename S = T>
INLINE Rall1d< T, V, S > & KDL::Rall1d< T, V, S >::operator+= ( const Rall1d< T, V, S > & rhs)
inline

Definition at line 115 of file rall1d.h.

◆ operator+=() [2/2]

template<typename T, typename V = T, typename S = T>
INLINE Rall1d< T, V, S > & KDL::Rall1d< T, V, S >::operator+= ( S rhs)
inline

Definition at line 143 of file rall1d.h.

◆ operator-=() [1/2]

template<typename T, typename V = T, typename S = T>
INLINE Rall1d< T, V, S > & KDL::Rall1d< T, V, S >::operator-= ( const Rall1d< T, V, S > & rhs)
inline

Definition at line 122 of file rall1d.h.

◆ operator-=() [2/2]

template<typename T, typename V = T, typename S = T>
INLINE Rall1d< T, V, S > & KDL::Rall1d< T, V, S >::operator-= ( S rhs)
inline

Definition at line 149 of file rall1d.h.

◆ operator/=() [1/2]

template<typename T, typename V = T, typename S = T>
INLINE Rall1d< T, V, S > & KDL::Rall1d< T, V, S >::operator/= ( const Rall1d< T, V, S > & rhs)
inline

Definition at line 101 of file rall1d.h.

◆ operator/=() [2/2]

template<typename T, typename V = T, typename S = T>
INLINE Rall1d< T, V, S > & KDL::Rall1d< T, V, S >::operator/= ( S rhs)
inline

Definition at line 129 of file rall1d.h.

◆ operator=() [1/2]

template<typename T, typename V = T, typename S = T>
INLINE Rall1d< T, V, S > & KDL::Rall1d< T, V, S >::operator= ( const Rall1d< T, V, S > & r)
inline

Definition at line 98 of file rall1d.h.

◆ operator=() [2/2]

template<typename T, typename V = T, typename S = T>
INLINE Rall1d< T, V, S > & KDL::Rall1d< T, V, S >::operator= ( S c)
inline

Definition at line 95 of file rall1d.h.

◆ Value()

template<typename T, typename V = T, typename S = T>
INLINE T & KDL::Rall1d< T, V, S >::Value ( )
inline

Definition at line 76 of file rall1d.h.

◆ value()

template<typename T, typename V = T, typename S = T>
T KDL::Rall1d< T, V, S >::value ( ) const
inline

Definition at line 59 of file rall1d.h.

◆ Zero()

template<typename T, typename V = T, typename S = T>
INLINE Rall1d< T, V, S > KDL::Rall1d< T, V, S >::Zero ( )
inlinestatic

Definition at line 84 of file rall1d.h.

Member Data Documentation

◆ grad

template<typename T, typename V = T, typename S = T>
V KDL::Rall1d< T, V, S >::grad

gradient

Definition at line 55 of file rall1d.h.

Referenced by KDL::cos(), KDL::cosh(), KDL::JntArrayAcc::Divide, KDL::JntArrayVel::Divide, KDL::exp(), KDL::LinComb(), KDL::LinCombR(), KDL::log(), KDL::JntArrayAcc::Multiply, KDL::JntArrayVel::Multiply, KDL::FrameVel::operator*, KDL::FrameVel::operator*, KDL::operator*(), KDL::operator+(), KDL::operator-(), KDL::operator-(), KDL::operator/(), KDL::Rall1d< double >::operator=(), KDL::pow(), KDL::SetToIdentity(), KDL::SetToZero(), KDL::sin(), KDL::sinh(), KDL::sqr(), KDL::sqrt(), KDL::tan(), and KDL::tanh().

◆ t

template<typename T, typename V = T, typename S = T>
T KDL::Rall1d< T, V, S >::t

value

Definition at line 54 of file rall1d.h.

Referenced by KDL::cos(), KDL::cosh(), KDL::JntArrayAcc::Divide, KDL::JntArrayVel::Divide, KDL::exp(), KDL::LinComb(), KDL::LinCombR(), KDL::log(), KDL::JntArrayAcc::Multiply, KDL::JntArrayVel::Multiply, KDL::Norm(), KDL::FrameVel::operator*, KDL::FrameVel::operator*, KDL::operator*(), KDL::operator+(), KDL::operator-(), KDL::operator-(), KDL::operator/(), KDL::Rall1d< double >::operator=(), KDL::pow(), KDL::SetToIdentity(), KDL::SetToZero(), KDL::sin(), KDL::sinh(), KDL::sqr(), KDL::sqrt(), KDL::tan(), and KDL::tanh().

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