KDL::Rall1d< T, V, S > Class Template Reference

#include <rall1d.h>

Public Types
typedef V	gradienttype
typedef S	scalartype
typedef T	valuetype

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

Static Public Member Functions
static INLINE Rall1d< T, V, S >	Identity ()
static INLINE Rall1d< T, V, S >	Zero ()

Public Attributes
V	grad
	gradient More...
T	t
	value More...

Detailed Description

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

Rall1d contains a value, and its gradient, and defines an algebraic structure on this pair. This template class has 3 template parameters :

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

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

S is always passed by value.

Class Type

Concrete implementation

Definition at line 71 of file rall1d.h.

Member Typedef Documentation

gradienttype

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

typedef V KDL::Rall1d< T, V, S >::gradienttype

Definition at line 97 of file rall1d.h.

scalartype

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

typedef S KDL::Rall1d< T, V, S >::scalartype

Definition at line 98 of file rall1d.h.

valuetype

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

typedef T KDL::Rall1d< T, V, S >::valuetype

Definition at line 96 of file rall1d.h.

Constructor & Destructor Documentation

Rall1d() [1/4]

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

INLINE KDL::Rall1d< T, V, S >::Rall1d ( )

inline

Definition at line 103 of file rall1d.h.

Rall1d() [2/4]

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

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

inlineexplicit

Definition at line 112 of file rall1d.h.

Rall1d() [3/4]

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

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

inline

Definition at line 115 of file rall1d.h.

Rall1d() [4/4]

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

INLINE KDL::Rall1d< T, V, S >::Rall1d ( const Rall1d< T, V, S > &  r )

inline

Definition at line 117 of file rall1d.h.

Member Function Documentation

deriv()

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

V KDL::Rall1d< T, V, S >::deriv ( ) const

inline

Definition at line 108 of file rall1d.h.

Gradient()

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

INLINE V& KDL::Rall1d< T, V, S >::Gradient ( )

inline

Definition at line 126 of file rall1d.h.

Identity()

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

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

inlinestatic

Definition at line 135 of file rall1d.h.

operator*=() [1/2]

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

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

inline

Definition at line 154 of file rall1d.h.

operator*=() [2/2]

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

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

inline

Definition at line 182 of file rall1d.h.

operator+=() [1/2]

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

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

inline

Definition at line 161 of file rall1d.h.

operator+=() [2/2]

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

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

inline

Definition at line 189 of file rall1d.h.

operator-=() [1/2]

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

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

inline

Definition at line 168 of file rall1d.h.

operator-=() [2/2]

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

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

inline

Definition at line 195 of file rall1d.h.

operator/=() [1/2]

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

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

inline

Definition at line 147 of file rall1d.h.

operator/=() [2/2]

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

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

inline

Definition at line 175 of file rall1d.h.

operator=() [1/2]

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

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

inline

Definition at line 144 of file rall1d.h.

operator=() [2/2]

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

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

inline

Definition at line 141 of file rall1d.h.

Value()

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

INLINE T& KDL::Rall1d< T, V, S >::Value ( )

inline

Definition at line 122 of file rall1d.h.

value()

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

T KDL::Rall1d< T, V, S >::value ( ) const

inline

Definition at line 105 of file rall1d.h.

Zero()

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

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

inlinestatic

Definition at line 130 of file rall1d.h.

Member Data Documentation

grad

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

V KDL::Rall1d< T, V, S >::grad

gradient

Definition at line 101 of file rall1d.h.

t

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

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

value

Definition at line 100 of file rall1d.h.

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

• rall1d.h