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27 q(size),qdot(size),qdotdot(size)
31 q(qin),qdot(qdotin),qdotdot(qdotdotin)
36 q(qin),qdot(qdotin),qdotdot(q.rows())
41 q(qin),qdot(q.rows()),qdotdot(q.rows())
80 Add(src1.
q,src2,dest.
q);
153 Multiply(src.
q,(2*factor.
d*factor.
d)/(factor.
t*factor.
t*factor.
t)-factor.
dd/(factor.
t*factor.
t),dest.
q);
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)
unsigned int rows() const
void Divide(const JntArray &src, const double &factor, JntArray &dest)
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
void SetToZero(Jacobian &jac)
void resize(unsigned int newSize)