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55 data.conservativeResizeLike(Eigen::VectorXd::Zero(newSize));
72 return static_cast<unsigned int>(
data.rows());
77 return static_cast<unsigned int>(
data.cols());
102 Eigen::Matrix<double,6,1> t=jac.
data.lazyProduct(src.
data);
108 array.
data.setZero();
115 return (src1.
data-src2.
data).isZero(eps);
unsigned int columns() const
void Subtract(const JntArray &src1, const JntArray &src2, JntArray &dest)
void resize(unsigned int newSize)
void Add(const JntArray &src1, const JntArray &src2, JntArray &dest)
void Multiply(const JntArray &src, const double &factor, JntArray &dest)
A concrete implementation of a 3 dimensional vector class.
bool operator==(const Rotation &a, const Rotation &b)
represents both translational and rotational velocities.
double operator()(unsigned int i, unsigned int j=0) const
unsigned int rows() const
void Divide(const JntArray &src, const double &factor, JntArray &dest)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix< double, 6, Eigen::Dynamic > data
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
JntArray & operator=(const JntArray &arg)
void SetToZero(Jacobian &jac)
void MultiplyJacobian(const Jacobian &jac, const JntArray &src, Twist &dest)