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

#include <rall2d.h>

List of all members.

Public Member Functions
INLINE	Rall2d ()
INLINE	Rall2d (typename TI< T >::Arg c)
INLINE	Rall2d (typename TI< T >::Arg tn, const V &afg)
INLINE	Rall2d (typename TI< T >::Arg tn, const V &afg, const V &afg2)
INLINE	Rall2d (const Rall2d< T, V, S > &r)
INLINE T &	Value ()
INLINE V &	D ()
INLINE V &	DD ()
INLINE Rall2d< T, V, S > &	operator= (S c)
INLINE Rall2d< T, V, S > &	operator= (const Rall2d< T, V, S > &r)
INLINE Rall2d< T, V, S > &	operator/= (const Rall2d< T, V, S > &rhs)
INLINE Rall2d< T, V, S > &	operator*= (const Rall2d< T, V, S > &rhs)
INLINE Rall2d< T, V, S > &	operator+= (const Rall2d< T, V, S > &rhs)
INLINE Rall2d< T, V, S > &	operator-= (const Rall2d< T, V, S > &rhs)
INLINE Rall2d< T, V, S > &	operator/= (S rhs)
INLINE Rall2d< T, V, S > &	operator*= (S rhs)
INLINE Rall2d< T, V, S > &	operator-= (S rhs)
INLINE Rall2d< T, V, S > &	operator+= (S rhs)
Static Public Member Functions
static INLINE Rall2d< T, V, S >	Zero ()
static INLINE Rall2d< T, V, S >	Identity ()
Public Attributes
T	t
	value
V	d
	1st derivative
V	dd
	2nd derivative

---

Detailed Description

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

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

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

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

S is always passed by value.

Class Type

Concrete implementation

Definition at line 53 of file rall2d.h.

---

Constructor & Destructor Documentation

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

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

(

)

[inline]

Definition at line 61 of file rall2d.h.

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

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

(

typename TI< T >::Arg

c

)

[inline, explicit]

Definition at line 63 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, KDL::SetToZero(), and KDL::Rall2d< T, V, S >::t.

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

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

Definition at line 66 of file rall2d.h.

References KDL::Rall2d< T, V, S >::dd, and KDL::SetToZero().

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

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

Definition at line 68 of file rall2d.h.

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

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

(

const Rall2d< T, V, S > &

r

)

[inline]

Definition at line 71 of file rall2d.h.

---

Member Function Documentation

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

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

(

)

[inline]

Definition at line 81 of file rall2d.h.

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

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

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

(

)

[inline]

Definition at line 85 of file rall2d.h.

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

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

static INLINE Rall2d<T,V,S> KDL::Rall2d< T, V, S >::Identity

(

)

[inline, static]

Definition at line 93 of file rall2d.h.

References KDL::SetToIdentity().

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

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

(

const Rall2d< T, V, S > &

rhs

)

[inline]

Definition at line 114 of file rall2d.h.

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

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

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

(

S

rhs

)

[inline]

Definition at line 146 of file rall2d.h.

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

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

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

(

const Rall2d< T, V, S > &

rhs

)

[inline]

Definition at line 122 of file rall2d.h.

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

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

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

(

S

rhs

)

[inline]

Definition at line 160 of file rall2d.h.

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

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

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

(

const Rall2d< T, V, S > &

rhs

)

[inline]

Definition at line 130 of file rall2d.h.

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

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

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

(

S

rhs

)

[inline]

Definition at line 154 of file rall2d.h.

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

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

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

(

const Rall2d< T, V, S > &

rhs

)

[inline]

Definition at line 106 of file rall2d.h.

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

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

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

(

S

rhs

)

[inline]

Definition at line 138 of file rall2d.h.

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

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

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

(

const Rall2d< T, V, S > &

r

)

[inline]

Definition at line 103 of file rall2d.h.

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

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

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

(

S

c

)

[inline]

Definition at line 100 of file rall2d.h.

References KDL::Rall2d< T, V, S >::d, KDL::Rall2d< T, V, S >::dd, KDL::SetToZero(), and KDL::Rall2d< T, V, S >::t.

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

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

(

)

[inline]

Definition at line 77 of file rall2d.h.

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

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

TwistVel TwistVel::Zero

(

)

[inline, static]

Definition at line 88 of file rall2d.h.

References KDL::SetToZero().

---

Member Data Documentation

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

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

1st derivative

Definition at line 57 of file rall2d.h.

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

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

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

2nd derivative

Definition at line 58 of file rall2d.h.

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

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

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

value

Definition at line 56 of file rall2d.h.

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

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

• rall2d.h
• frameacc.inl
• frames.inl
• framevel.inl