jntarrayvel.hpp

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// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
 
// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl
 
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.
 
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.
 
// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 
#ifndef KDL_JNTARRAYVEL_HPP
#define KDL_JNTARRAYVEL_HPP
 
#include "utilities/utility.h"
#include "jntarray.hpp"
#include "framevel.hpp"
 
namespace KDL
{
 
    class JntArrayVel
    {
    public:
        JntArray q;
        JntArray qdot;
    public:
        JntArrayVel(unsigned int size);
        JntArrayVel(const JntArray& q,const JntArray& qdot);
        JntArrayVel(const JntArray& q);
 
        JntArray value()const;
        JntArray deriv()const;
 
        friend void Add(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest);
        friend void Add(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest);
        friend void Subtract(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest);
        friend void Subtract(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest);
        friend void Multiply(const JntArrayVel& src,const double& factor,JntArrayVel& dest);
        friend void Multiply(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest);
        friend void Divide(const JntArrayVel& src,const double& factor,JntArrayVel& dest);
        friend void Divide(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest);
        friend void SetToZero(JntArrayVel& array);
        friend bool Equal(const JntArrayVel& src1,const JntArrayVel& src2,double eps);
    };
 
    bool Equal(const JntArrayVel&, const JntArrayVel&, double = epsilon);
}
 
#endif