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22 #ifndef KDL_JNTARRAY_HPP
23 #define KDL_JNTARRAY_HPP
92 explicit JntArray(
unsigned int size);
108 void resize(
unsigned int newSize);
119 double operator()(
unsigned int i,
unsigned int j=0)
const;
128 double&
operator()(
unsigned int i,
unsigned int j=0);
133 unsigned int rows()
const;
unsigned int columns() const
friend bool operator==(const JntArray &src1, const JntArray &src2)
void Subtract(const JntArray &src1, const JntArray &src2, JntArray &dest)
friend void SetToZero(JntArray &array)
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)
bool operator==(const Rotation &a, const Rotation &b)
friend void Subtract(const JntArray &src1, const JntArray &src2, JntArray &dest)
double epsilon
default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001.
represents both translational and rotational velocities.
double operator()(unsigned int i, unsigned int j=0) const
friend void Add(const JntArray &src1, const JntArray &src2, JntArray &dest)
unsigned int rows() const
void Divide(const JntArray &src, const double &factor, JntArray &dest)
friend void Multiply(const JntArray &src, const double &factor, JntArray &dest)
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
friend bool Equal(const JntArray &src1, const JntArray &src2, double eps)
JntArray & operator=(const JntArray &arg)
friend void Divide(const JntArray &src, const double &factor, JntArray &dest)
void SetToZero(Jacobian &jac)
void MultiplyJacobian(const Jacobian &jac, const JntArray &src, Twist &dest)
friend void MultiplyJacobian(const Jacobian &jac, const JntArray &src, Twist &dest)