Classes
class	Chain
	This class encapsulates a serial kinematic interconnection structure. It is build out of segments. More...

class	ChainFkSolverAcc
	This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain. More...

class	ChainFkSolverPos
	This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain. More...

class	ChainFkSolverPos_recursive

class	ChainFkSolverVel
	This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain. More...

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	Error

class	Error_BasicIO

class	Error_BasicIO_Exp_Delim

class	Error_BasicIO_File

class	Error_BasicIO_Not_A_Space

class	Error_BasicIO_Not_Opened

class	Error_BasicIO_ToBig

class	Error_BasicIO_Unexpected

class	Error_Chain_Unexpected_id

class	Error_ChainIO

class	Error_Criterium

class	Error_Criterium_Unexpected_id

class	Error_Frame_Frame_Unexpected_id

class	Error_Frame_Rotation_Unexpected_id

class	Error_Frame_Vector_Unexpected_id

class	Error_FrameIO

class	Error_Integrator
	Abstract subclass of all errors that can be thrown by Adaptive_Integrator. More...

class	Error_IO

class	Error_Limits

class	Error_Limits_Unexpected_id

class	Error_MotionIO

class	Error_MotionIO_Unexpected_MotProf

class	Error_MotionIO_Unexpected_Traj

class	Error_MotionPlanning

class	Error_MotionPlanning_Circle_No_Plane

class	Error_MotionPlanning_Circle_ToSmall

class	Error_MotionPlanning_Incompatible

class	Error_MotionPlanning_Not_Applicable

class	Error_MotionPlanning_Not_Feasible

class	Error_Not_Implemented

class	Error_Redundancy

class	Error_Redundancy_Illegal_Resolutiontype

class	Error_Redundancy_Low_Manip

class	Error_Redundancy_Unavoidable

class	Error_RedundancyIO
	Error_Redundancy indicates an error that occured during solving for redundancy. More...

class	Error_Stepsize_To_Small
	Error_Stepsize_To_Small is thrown if the stepsize becomes to small More...

class	Error_Stepsize_Underflow
	Error_Stepsize_Underflow is thrown if the stepsize becomes to small. More...

class	Error_To_Many_Steps

class	Frame
	represents a frame transformation in 3D space (rotation + translation) More...

class	Frame2

class	FrameAcc

class	FrameVel

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	Rall1d

class	Rall2d

class	Rotation
	represents rotations in 3 dimensional space. More...

class	Rotation2

class	RotationAcc

class	RotationVel

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	TI

class	TI< double >

class	TI< int >

class	Tree
	This class encapsulates a tree kinematic interconnection structure. It is build out of segments. More...

class	TreeElement

class	TreeFkSolverPos
	This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree. More...

class	TreeFkSolverPos_recursive

class	TreeJntToJacSolver

class	Twist
	represents both translational and rotational velocities. More...

class	TwistAcc

class	TwistVel

class	Vector
	A concrete implementation of a 3 dimensional vector class. More...

class	Vector2
	2D version of Vector More...

class	VectorAcc

class	VectorVel

class	Wrench
	represents both translational and rotational acceleration. More...

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)

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=1)

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

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

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

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

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

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

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

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

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)

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()

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

static

Definition at line 77 of file utility_io.cpp.

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

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

◆ _EatUntilEndOfComment()

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

static

Definition at line 55 of file utility_io.cpp.

References _check_istream(), count, and NULL.

Referenced by _EatSpace().

◆ _EatUntilEndOfLine()

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

static

Definition at line 41 of file utility_io.cpp.

References _check_istream(), count, and NULL.

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 Sign(), and v.

◆ 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 Sign(), and v.

◆ 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(), sqr(), and v.

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

◆ 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, sin(), sqr(), 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

src1	A
src2	B
dest	C

Definition at line 103 of file jntarray.cpp.

◆ 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.

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

◆ addDelta() [2/10]

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

◆ 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 addDelta(), KDL::TwistVel::rot, and KDL::TwistVel::vel.

◆ addDelta() [4/10]

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

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

◆ addDelta() [6/10]

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

◆ addDelta() [7/10]

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

Referenced by addDelta(), addDelta(), addDelta(), addDelta(), addDelta(), and addDelta().

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

◆ addDelta() [9/10]

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

◆ 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(), sqr(), and v.

Referenced by asin(), and asin().

◆ 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, sqr(), 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(), sqr(), and v.

Referenced by atan(), and atan().

◆ 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, sqr(), KDL::Rall2d< T, V, S >::t, and v.

◆ 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(), and v.

Referenced by atan2(), atan2(), ComputeTwist(), EulerAngleFromMatrix(), KDL::Rotation::GetEulerZYZ(), KDL::Rotation2::GetRot(), 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, sqr(), KDL::Rall2d< T, V, S >::t, and v.

◆ 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, sin(), KDL::Rall1d< T, V, S >::t, and v.

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

◆ 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, sin(), 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, sinh(), KDL::Rall1d< T, V, S >::t, and v.

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

◆ 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, sinh(), 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.

References b.

◆ diff() [2/10]

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

◆ 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.

References b, and diff().

◆ diff() [4/10]

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

◆ 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 diff().

◆ diff() [6/10]

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

◆ diff() [7/10]

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

Referenced by iTaSC::ConstraintSet::closeLoop(), diff(), diff(), diff(), diff(), diff(), diff(), 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, and diff().

◆ diff() [9/10]

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

◆ 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

src	A
factor	b
dest	C

Definition at line 124 of file jntarray.cpp.

◆ 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.

◆ 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

is	a stream
descript	description 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

is	a stream
delim	eat 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

is	a stream
delim	eat 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

is	a stream
delim	a string containing the delimmiting characters
storage	for returning the word
maxsize	a word can be maximally maxsize-1 long.

Definition at line 183 of file utility_io.cpp.

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

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

◆ Equal() [1/39]

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

inline

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

◆ Equal() [2/39]

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

◆ Equal() [3/39]

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

◆ Equal() [4/39]

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

inline

◆ Equal() [5/39]

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

◆ Equal() [6/39]

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

◆ Equal() [7/39]

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

◆ Equal() [8/39]

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

◆ 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
eps	default: 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, and Equal().

◆ 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, and Equal().

◆ Equal() [15/39]

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

Definition at line 157 of file frames.cpp.

References b, eps, and Equal().

◆ Equal() [16/39]

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

◆ Equal() [17/39]

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

◆ Equal() [18/39]

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

inline

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

◆ Equal() [19/39]

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

◆ Equal() [20/39]

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

◆ Equal() [21/39]

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

◆ Equal() [22/39]

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

◆ Equal() [23/39]

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

inline

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

◆ Equal() [24/39]

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

◆ Equal() [25/39]

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

◆ Equal() [26/39]

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

◆ Equal() [27/39]

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

◆ Equal() [28/39]

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

◆ Equal() [29/39]

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

◆ Equal() [30/39]

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

inline

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

◆ Equal() [31/39]

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

◆ Equal() [32/39]

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

◆ Equal() [33/39]

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

inline

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

◆ Equal() [34/39]

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

◆ Equal() [35/39]

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

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

◆ Equal() [36/39]

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

◆ Equal() [37/39]

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

◆ Equal() [38/39]

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

inline

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

◆ Equal() [39/39]

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

inline

Definition at line 268 of file utility.h.

References b, and eps.

◆ 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, KDL::Rall1d< T, V, S >::t, and v.

Referenced by exp(), and exp().

◆ 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(), 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(), and v.

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

◆ 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.

◆ 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(), and LinComb().

Referenced by LinComb(), LinComb(), and KDL::Rall1d< T, V, S >::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(), and LinComb().

◆ 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, and beta().

◆ 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(), and LinCombR().

Referenced by LinCombR(), LinCombR(), and KDL::Rall1d< T, V, S >::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(), and LinCombR().

◆ 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, log(), KDL::Rall1d< T, V, S >::t, and v.

Referenced by log(), and log().

◆ 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, 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.

◆ min()

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

inline

Definition at line 211 of file utility.h.

References b.

◆ 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

src	A
factor	b
dest	C

Definition at line 117 of file jntarray.cpp.

◆ 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

jac	J
src	q
dest	t

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 Norm().

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 Norm().

◆ Norm() [3/3]

double KDL::Norm ( double arg )

inline

Definition at line 255 of file utility.h.

References fabs().

◆ Normalize()

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

inline

Referenced by base_callback().

◆ operator*() [1/7]

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

◆ operator*() [2/7]

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 v.

◆ operator*() [3/7]

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, rhs, and KDL::Rall2d< T, V, S >::t.

◆ operator*() [4/7]

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 v.

◆ operator*() [5/7]

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

Definition at line 177 of file frames.cpp.

◆ operator*() [6/7]

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 v.

◆ operator*() [7/7]

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 v.

◆ operator+() [1/6]

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

◆ operator+() [2/6]

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 v.

◆ operator+() [3/6]

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, rhs, and KDL::Rall2d< T, V, S >::t.

◆ operator+() [4/6]

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 v.

◆ operator+() [5/6]

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 v.

◆ operator+() [6/6]

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 v.

◆ operator-() [1/8]

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

◆ operator-() [2/8]

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

◆ operator-() [3/8]

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 v.

◆ operator-() [4/8]

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

◆ operator-() [5/8]

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, rhs, and KDL::Rall2d< T, V, S >::t.

◆ operator-() [6/8]

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 v.

◆ operator-() [7/8]

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 v.

◆ operator-() [8/8]

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 v.

◆ operator/() [1/6]

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

◆ operator/() [2/6]

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 v.

◆ operator/() [3/6]

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, rhs, and KDL::Rall2d< T, V, S >::t.

◆ operator/() [4/6]

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 v.

◆ operator/() [5/6]

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 v.

◆ operator/() [6/6]

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, 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(), and KDL::Chain::getSegment().

◆ operator<<() [2/16]

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

Definition at line 108 of file frames_io.cpp.

◆ operator<<() [3/16]

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

Definition at line 126 of file frames_io.cpp.

◆ 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(), 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 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 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.

◆ 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.

◆ operator==() [1/2]

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

Definition at line 155 of file jntarray.cpp.

◆ operator==() [2/2]

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

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

Definition at line 377 of file frames.cpp.

Referenced by operator!=(), operator!=(), operator!=(), operator!=(), and operator!=().

◆ 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(), and IOTracePop().

◆ operator>>() [3/15]

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

Definition at line 305 of file frames_io.cpp.

References IOTrace(), and IOTracePop().

◆ 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(), 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.

◆ 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() [1/6]

void KDL::posrandom ( double & a )

inline

Definition at line 278 of file utility.h.

References double().

◆ posrandom() [2/6]

IMETHOD void KDL::posrandom ( doubleVel & F )

Definition at line 48 of file framevel.hpp.

References posrandom().

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

◆ posrandom() [3/6]

IMETHOD void KDL::posrandom ( FrameVel & F )

Definition at line 378 of file framevel.hpp.

References posrandom().

◆ posrandom() [4/6]

IMETHOD void KDL::posrandom ( RotationVel & R )

Definition at line 373 of file framevel.hpp.

References posrandom(), and R.

◆ posrandom() [5/6]

IMETHOD void KDL::posrandom ( TwistVel & a )

Definition at line 368 of file framevel.hpp.

References posrandom().

◆ posrandom() [6/6]

IMETHOD void KDL::posrandom ( VectorVel & a )

Definition at line 364 of file framevel.hpp.

References posrandom().

◆ 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, pow(), KDL::Rall1d< T, V, S >::t, and v.

Referenced by pow(), and pow().

◆ 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, pow(), 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() [1/6]

void KDL::random ( double & a )

inline

Definition at line 274 of file utility.h.

References double().

◆ random() [2/6]

IMETHOD void KDL::random ( doubleVel & F )

Definition at line 44 of file framevel.hpp.

References random().

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

◆ random() [3/6]

IMETHOD void KDL::random ( FrameVel & F )

Definition at line 360 of file framevel.hpp.

References random().

◆ random() [4/6]

IMETHOD void KDL::random ( RotationVel & R )

Definition at line 355 of file framevel.hpp.

References R, and random().

◆ random() [5/6]

IMETHOD void KDL::random ( TwistVel & a )

Definition at line 350 of file framevel.hpp.

References random().

◆ random() [6/6]

IMETHOD void KDL::random ( VectorVel & a )

Definition at line 346 of file framevel.hpp.

References random().

◆ 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 SetToIdentity(), and SetToZero().

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

◆ SetToZero() [1/7]

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() [2/7]

void KDL::SetToZero ( Jacobian & jac )

Definition at line 81 of file jacobian.cpp.

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

◆ SetToZero() [3/7]

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() [4/7]

void KDL::SetToZero ( JntArrayAcc & array )

Definition at line 160 of file jntarrayacc.cpp.

◆ SetToZero() [5/7]

void KDL::SetToZero ( JntArrayVel & array )

Definition at line 102 of file jntarrayvel.cpp.

◆ SetToZero() [6/7]

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 SetToZero().

◆ SetToZero() [7/7]

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 SetToZero().

◆ 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, sin(), KDL::Rall1d< T, V, S >::t, and v.

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

◆ 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, sin(), 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, sinh(), KDL::Rall1d< T, V, S >::t, and v.

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

◆ 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, sinh(), 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, KDL::Rall1d< T, V, S >::t, and v.

Referenced by acos(), acos(), asin(), asin(), atan(), atan(), atan2(), copypose_error(), KDL::Rotation::GetEulerZYZ(), KDL::Rotation::GetRPY(), hypot(), KDL::Vector2::Norm(), KDL::Vector::Norm(), KDL::Rotation::Ortho(), iTaSC::WDLSSolver::solve(), sqr(), sqrt(), tan(), tan(), tanh(), 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, 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, sqrt(), KDL::Rall1d< T, V, S >::t, and v.

Referenced by copypose_error(), EulerAngleFromMatrix(), KDL::Rotation::GetEulerZYZ(), KDL::Rotation::GetRotAngle(), KDL::Rotation::GetRPY(), KDL::Vector2::Norm(), KDL::Vector::Norm(), KDL::Rotation::Ortho(), PYTHAG(), sqrt(), sqrt(), svd_eigen_HH(), 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, 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

src1	A
src2	B
dest	C

Definition at line 110 of file jntarray.cpp.

◆ 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

A	matrix<double>(mxn)
U	matrix<double>(mxn)
S	vector<double> n
V	matrix<double>(nxn)
tmp	vector<double> n
maxiter	defaults 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, 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, sqr(), KDL::Rall1d< T, V, S >::t, tan(), and v.

Referenced by tan(), and tan().

◆ 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, sqr(), 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, sqr(), KDL::Rall1d< T, V, S >::t, tanh(), and v.

Referenced by tanh(), and tanh().

◆ 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, sqr(), 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(), EulerAngleFromMatrix(), iTaSC::Armature::finalize(), KDL::Rotation::GetEulerZYZ(), KDL::Rotation::GetRot(), KDL::Rotation::GetRPY(), KDL::Rotation::GetXZRot(), init_scene(), KDL::Frame::Integrate(), iTaSC::Distance::setControlParameters(), iTaSC::WDLSSolver::solve(), iTaSC::WSDLSSolver::solve(), iTaSC::Scene::update(), iTaSC::Armature::updateJoint(), and iTaSC::Distance::updateKinematics().

◆ 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.

Classes

Typedefs

Functions

Variables

Typedef Documentation

◆ doubleAcc

◆ doubleVel

◆ ErrorStack

◆ SegmentMap

Function Documentation

◆ _check_istream()

◆ _EatSpace()

◆ _EatUntilEndOfComment()

◆ _EatUntilEndOfLine()

◆ abs() [1/2]

◆ abs() [2/2]

◆ acos() [1/3]

◆ acos() [2/3]

◆ acos() [3/3]

◆ Add() [1/6]

◆ Add() [2/6]

◆ Add() [3/6]

◆ Add() [4/6]

◆ Add() [5/6]

◆ Add() [6/6]

◆ addDelta() [1/10]

◆ addDelta() [2/10]

◆ addDelta() [3/10]

◆ addDelta() [4/10]

◆ addDelta() [5/10]

◆ addDelta() [6/10]

◆ addDelta() [7/10]

◆ addDelta() [8/10]

◆ addDelta() [9/10]

◆ addDelta() [10/10]

◆ asin() [1/3]

◆ asin() [2/3]

◆ asin() [3/3]

◆ atan() [1/3]

◆ atan() [2/3]

◆ atan() [3/3]

◆ atan2() [1/3]

◆ atan2() [2/3]

◆ atan2() [3/3]

◆ changeBase()

◆ changeRefFrame()

◆ changeRefPoint()

◆ cos() [1/3]

◆ cos() [2/3]

◆ cos() [3/3]

◆ cosh() [1/3]

◆ cosh() [2/3]

◆ cosh() [3/3]

◆ diff() [1/10]

◆ diff() [2/10]

◆ diff() [3/10]

◆ diff() [4/10]

◆ diff() [5/10]

◆ diff() [6/10]

◆ diff() [7/10]

◆ diff() [8/10]

◆ diff() [9/10]

◆ diff() [10/10]

◆ Divide() [1/6]

◆ Divide() [2/6]

◆ Divide() [3/6]

◆ Divide() [4/6]

◆ Divide() [5/6]

◆ Divide() [6/6]

◆ Eat() [1/2]

◆ Eat() [2/2]

◆ EatEnd()

◆ EatWord()

◆ Equal() [1/39]

◆ Equal() [2/39]

◆ Equal() [3/39]

◆ Equal() [4/39]

◆ Equal() [5/39]

◆ Equal() [6/39]

◆ Equal() [7/39]