orocos_kdl
Classes | Typedefs | Functions | Variables
KDL Namespace Reference

Classes

class  ArticulatedBodyInertia
 6D Inertia of a articulated body More...
 
class  Chain
 This class encapsulates a serial kinematic interconnection structure. It is built out of segments. More...
 
class  ChainDynParam
 
class  ChainExternalWrenchEstimator
 First-order momentum observer for the estimation of external wrenches applied on the robot's end-effector. More...
 
class  ChainFdSolver
 This abstract class encapsulates the inverse dynamics solver for a KDL::Chain. More...
 
class  ChainFdSolver_RNE
 Recursive newton euler forward dynamics solver. More...
 
class  ChainFkSolverAcc
 This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain. More...
 
class  ChainFkSolverPos
 This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain. More...
 
class  ChainFkSolverPos_recursive
 
class  ChainFkSolverVel
 This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain. More...
 
class  ChainFkSolverVel_recursive
 
class  ChainHdSolver_Vereshchagin
 Abstract: Acceleration constrained hybrid dynamics calculations for a chain, based on Vereshchagin 1989. This class creates an instance of the hybrid dynamics solver. The solver analytically calculates the joint space constraint torques and acceleration in a chain when a constraint force(s) is applied to the chain's end-effector (task space / cartesian space). In the robotics literature, this algorithm is also known under the following names: Acceleration Constrained Hybrid Dynamics (ACHD) and Popov-Vereshchagin solver. More...
 
class  ChainIdSolver
 This abstract class encapsulates the inverse dynamics solver for a KDL::Chain. More...
 
class  ChainIdSolver_RNE
 Recursive newton euler inverse dynamics solver. More...
 
class  ChainIdSolver_Vereshchagin
 
class  ChainIkSolverAcc
 This abstract class encapsulates the inverse acceleration solver for a KDL::Chain. More...
 
class  ChainIkSolverPos
 This abstract class encapsulates the inverse position solver for a KDL::Chain. More...
 
class  ChainIkSolverPos_LMA
 Solver for the inverse position kinematics that uses Levenberg-Marquardt. More...
 
class  ChainIkSolverPos_NR
 
class  ChainIkSolverPos_NR_JL
 
class  ChainIkSolverVel
 This abstract class encapsulates the inverse velocity solver for a KDL::Chain. More...
 
class  ChainIkSolverVel_pinv
 
class  ChainIkSolverVel_pinv_givens
 
class  ChainIkSolverVel_pinv_nso
 
class  ChainIkSolverVel_wdls
 
class  ChainJntToJacDotSolver
 Computes the Jacobian time derivative (Jdot) by calculating the partial derivatives regarding to a joint angle, in the Hybrid, Body-fixed or Inertial representation. More...
 
class  ChainJntToJacSolver
 Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers. More...
 
class  checkBinary
 
class  checkBinary_displ
 
class  checkBinaryVel
 
class  checkUnary
 
class  checkUnaryVel
 
class  Error
 
class  Error_BasicIO
 
class  Error_BasicIO_Exp_Delim
 
class  Error_BasicIO_File
 
class  Error_BasicIO_Not_A_Space
 
class  Error_BasicIO_Not_Opened
 
class  Error_BasicIO_ToBig
 
class  Error_BasicIO_Unexpected
 
class  Error_Chain_Unexpected_id
 
class  Error_ChainIO
 
class  Error_Criterium
 
class  Error_Criterium_Unexpected_id
 
class  Error_Frame_Frame_Unexpected_id
 
class  Error_Frame_Rotation_Unexpected_id
 
class  Error_Frame_Vector_Unexpected_id
 
class  Error_FrameIO
 
class  Error_Integrator
 Abstract subclass of all errors that can be thrown by Adaptive_Integrator. More...
 
class  Error_IO
 
class  Error_Limits
 
class  Error_Limits_Unexpected_id
 
class  Error_MotionIO
 
class  Error_MotionIO_Unexpected_MotProf
 
class  Error_MotionIO_Unexpected_Traj
 
class  Error_MotionPlanning
 
class  Error_MotionPlanning_Circle_No_Plane
 
class  Error_MotionPlanning_Circle_ToSmall
 
class  Error_MotionPlanning_Incompatible
 
class  Error_MotionPlanning_Not_Applicable
 
class  Error_MotionPlanning_Not_Feasible
 
class  Error_Not_Implemented
 
class  Error_Redundancy
 
class  Error_Redundancy_Illegal_Resolutiontype
 
class  Error_Redundancy_Low_Manip
 
class  Error_Redundancy_Unavoidable
 
class  Error_RedundancyIO
 Error_Redundancy indicates an error that occurred during solving for redundancy. More...
 
class  Error_Stepsize_To_Small
 Error_Stepsize_To_Small is thrown if the stepsize becomes to small
More...
 
class  Error_Stepsize_Underflow
 Error_Stepsize_Underflow is thrown if the stepsize becomes to small. More...
 
class  Error_To_Many_Steps
 
class  Frame
 represents a frame transformation in 3D space (rotation + translation) More...
 
class  Frame2
 
class  FrameAcc
 
class  FrameVel
 
class  Jacobian
 
class  JntArray
 
class  JntArrayAcc
 
class  JntArrayVel
 
class  Joint
 This class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties. More...
 
class  Path
 
class  Path_Circle
 
class  Path_Composite
 
class  Path_Cyclic_Closed
 
class  Path_Line
 
class  Path_Point
 
class  Path_RoundedComposite
 
class  Rall1d
 
class  Rall2d
 
class  RigidBodyInertia
 6D Inertia of a rigid body More...
 
class  Rotation
 represents rotations in 3 dimensional space. More...
 
class  Rotation2
 
class  RotationAcc
 
class  RotationalInertia
 
class  RotationalInterpolation
 
class  RotationalInterpolation_SingleAxis
 
class  RotationVel
 
class  scoped_ptr
 
class  Segment
 This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body inertia) with a joint and with "handles", root and tip to connect to other segments. More...
 
class  SolverI
 
class  Stiffness
 
class  SVD_HH
 
class  TI
 
class  TI< double >
 
class  TI< int >
 
class  Trajectory
 
class  Trajectory_Composite
 
class  Trajectory_Segment
 
class  Trajectory_Stationary
 
class  Tree
 This class encapsulates a tree kinematic interconnection structure. It is built out of segments. More...
 
class  TreeElement
 
class  TreeFkSolverPos
 This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree. More...
 
class  TreeFkSolverPos_recursive
 
class  TreeIdSolver
 This abstract class encapsulates the inverse dynamics solver for a KDL::Tree. More...
 
class  TreeIdSolver_RNE
 Recursive newton euler inverse dynamics solver for kinematic trees. More...
 
class  TreeIkSolverPos
 This abstract class encapsulates the inverse position solver for a KDL::Chain. More...
 
class  TreeIkSolverPos_NR_JL
 
class  TreeIkSolverPos_Online
 
class  TreeIkSolverVel
 This abstract class encapsulates the inverse velocity solver for a KDL::Tree. More...
 
class  TreeIkSolverVel_wdls
 
class  TreeJntToJacSolver
 
class  Twist
 represents both translational and rotational velocities. More...
 
class  TwistAcc
 
class  TwistVel
 
class  Vector
 A concrete implementation of a 3 dimensional vector class. More...
 
class  Vector2
 2D version of Vector More...
 
class  VectorAcc
 
class  VectorVel
 
class  VelocityProfile
 
class  VelocityProfile_Dirac
 
class  VelocityProfile_Rectangular
 
class  VelocityProfile_Spline
 A spline VelocityProfile trajectory interpolation. More...
 
class  VelocityProfile_Trap
 
class  VelocityProfile_TrapHalf
 
class  Wrench
 represents both translational and rotational acceleration. More...
 

Typedefs

typedef Rall2d< double, double, double > doubleAcc
 
typedef Rall1d< double > doubleVel
 
typedef std::stack< std::string > ErrorStack
 
typedef std::map< std::string, Frame > Frames
 
typedef std::map< std::string, Jacobian > Jacobians
 
typedef std::map< std::string, TreeElement > SegmentMap
 
typedef TreeElement TreeElementType
 
typedef std::map< std::string, Twist > Twists
 
typedef std::vector< Wrench > Wrenches
 
typedef std::map< std::string, Wrench > WrenchMap
 

Functions

void _check_istream (std::istream &is)
 
int _EatSpace (std::istream &is, int *countp=NULL)
 
int _EatUntilEndOfComment (std::istream &is, int *countp=NULL)
 
int _EatUntilEndOfLine (std::istream &is, int *countp=NULL)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > abs (const Rall1d< T, V, S > &x)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > abs (const Rall2d< T, V, S > &x)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > acos (const Rall1d< T, V, S > &x)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > acos (const Rall2d< T, V, S > &arg)
 
double acos (double a)
 
void Add (const JntArray &src1, const JntArray &src2, JntArray &dest)
 
void Add (const JntArrayAcc &src1, const JntArray &src2, JntArrayAcc &dest)
 
void Add (const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
 
void Add (const JntArrayAcc &src1, const JntArrayVel &src2, JntArrayAcc &dest)
 
void Add (const JntArrayVel &src1, const JntArray &src2, JntArrayVel &dest)
 
void Add (const JntArrayVel &src1, const JntArrayVel &src2, JntArrayVel &dest)
 
void Add (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2, JntSpaceInertiaMatrix &dest)
 
IMETHOD doubleVel addDelta (const doubleVel &a, const doubleVel &da, double dt=1.0)
 
IMETHOD Frame addDelta (const Frame &F_w_a, const Twist &da_w, double dt=1)
 
IMETHOD FrameVel addDelta (const FrameVel &a, const TwistVel &da, double dt=1.0)
 
IMETHOD Rotation addDelta (const Rotation &R_w_a, const Vector &da_w, double dt=1)
 
IMETHOD RotationVel addDelta (const RotationVel &a, const VectorVel &da, double dt=1.0)
 
IMETHOD Twist addDelta (const Twist &a, const Twist &da, double dt=1)
 adds the twist da to the twist a. see also the corresponding diff() routine. More...
 
IMETHOD Vector addDelta (const Vector &p_w_a, const Vector &p_w_da, double dt=1)
 adds vector da to vector a. see also the corresponding diff() routine. More...
 
IMETHOD VectorVel addDelta (const VectorVel &a, const VectorVel &da, double dt=1.0)
 
IMETHOD Wrench addDelta (const Wrench &a, const Wrench &da, double dt=1)
 adds the wrench da to the wrench w. see also the corresponding diff() routine. see also the corresponding diff() routine. More...
 
double addDelta (double a, double da, double dt)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > asin (const Rall1d< T, V, S > &x)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > asin (const Rall2d< T, V, S > &arg)
 
double asin (double a)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > atan (const Rall1d< T, V, S > &x)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > atan (const Rall2d< T, V, S > &x)
 
double atan (double a)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > atan2 (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > atan2 (const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x)
 
double atan2 (double a, double b)
 
bool changeBase (const Jacobian &src1, const Rotation &rot, Jacobian &dest)
 
bool changeRefFrame (const Jacobian &src1, const Frame &frame, Jacobian &dest)
 
bool changeRefPoint (const Jacobian &src1, const Vector &base_AB, Jacobian &dest)
 
void checkDiffs ()
 
void checkDoubleOps ()
 
template<typename T >
void checkEqual (const T &a, const T &b, double eps)
 
void checkEulerZYX ()
 
void checkFrameOps ()
 
void checkFrameVelOps ()
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > cos (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > cos (const Rall2d< T, V, S > &arg)
 
double cos (double a)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > cosh (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > cosh (const Rall2d< T, V, S > &arg)
 
double cosh (double a)
 
Chain d2 ()
 
Chain d6 ()
 
IMETHOD doubleVel diff (const doubleVel &a, const doubleVel &b, double dt=1.0)
 
IMETHOD Twist diff (const Frame &F_a_b1, const Frame &F_a_b2, double dt=1)
 
IMETHOD TwistVel diff (const FrameVel &a, const FrameVel &b, double dt=1.0)
 
IMETHOD Vector diff (const Rotation &R_a_b1, const Rotation &R_a_b2, double dt=1)
 
IMETHOD VectorVel diff (const RotationVel &a, const RotationVel &b, double dt=1.0)
 
IMETHOD Twist diff (const Twist &a, const Twist &b, double dt=1)
 
IMETHOD Vector diff (const Vector &p_w_a, const Vector &p_w_b, double dt=1)
 
IMETHOD VectorVel diff (const VectorVel &a, const VectorVel &b, double dt=1.0)
 
IMETHOD Wrench diff (const Wrench &W_a_p1, const Wrench &W_a_p2, double dt=1)
 
double diff (double a, double b, double dt)
 
void Divide (const JntArray &src, const double &factor, JntArray &dest)
 
void Divide (const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
 
void Divide (const JntArrayAcc &src, const doubleAcc &factor, JntArrayAcc &dest)
 
void Divide (const JntArrayAcc &src, const doubleVel &factor, JntArrayAcc &dest)
 
void Divide (const JntArrayVel &src, const double &factor, JntArrayVel &dest)
 
void Divide (const JntArrayVel &src, const doubleVel &factor, JntArrayVel &dest)
 
void Divide (const JntSpaceInertiaMatrix &src, const double &factor, JntSpaceInertiaMatrix &dest)
 
void Eat (std::istream &is, const char *descript)
 
void Eat (std::istream &is, int delim)
 
void EatEnd (std::istream &is, int delim)
 
void EatWord (std::istream &is, const char *delim, char *storage, int maxsize)
 
bool Equal (const Frame &a, const Frame &b, double eps=epsilon)
 
IMETHOD bool Equal (const Frame &r1, const FrameAcc &r2, double eps=epsilon)
 
IMETHOD bool Equal (const Frame &r1, const FrameVel &r2, double eps=epsilon)
 
bool Equal (const Frame2 &a, const Frame2 &b, double eps=epsilon)
 
IMETHOD bool Equal (const FrameAcc &r1, const Frame &r2, double eps=epsilon)
 
IMETHOD bool Equal (const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
 
IMETHOD bool Equal (const FrameVel &r1, const Frame &r2, double eps=epsilon)
 
IMETHOD bool Equal (const FrameVel &r1, const FrameVel &r2, double eps=epsilon)
 
bool Equal (const Jacobian &a, const Jacobian &b, double eps)
 
bool Equal (const JntArray &src1, const JntArray &src2, double eps)
 
bool Equal (const JntArrayAcc &src1, const JntArrayAcc &src2, double eps)
 
bool Equal (const JntArrayVel &src1, const JntArrayVel &src2, double eps)
 
bool Equal (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2, double eps)
 
template<class T , class V , class S >
INLINE bool Equal (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x, double eps=epsilon)
 
template<class T , class V , class S >
INLINE bool Equal (const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x, double eps=epsilon)
 
bool Equal (const Rotation &a, const Rotation &b, double eps)
 
IMETHOD bool Equal (const Rotation &r1, const RotationAcc &r2, double eps=epsilon)
 
IMETHOD bool Equal (const Rotation &r1, const RotationVel &r2, double eps=epsilon)
 
bool Equal (const Rotation2 &a, const Rotation2 &b, double eps=epsilon)
 
IMETHOD bool Equal (const RotationAcc &r1, const Rotation &r2, double eps=epsilon)
 
IMETHOD bool Equal (const RotationAcc &r1, const RotationAcc &r2, double eps=epsilon)
 
IMETHOD bool Equal (const RotationVel &r1, const Rotation &r2, double eps=epsilon)
 
IMETHOD bool Equal (const RotationVel &r1, const RotationVel &r2, double eps=epsilon)
 
bool Equal (const Twist &a, const Twist &b, double eps=epsilon)
 
IMETHOD bool Equal (const Twist &a, const TwistAcc &b, double eps=epsilon)
 
IMETHOD bool Equal (const Twist &a, const TwistVel &b, double eps=epsilon)
 
IMETHOD bool Equal (const TwistAcc &a, const Twist &b, double eps=epsilon)
 
IMETHOD bool Equal (const TwistAcc &a, const TwistAcc &b, double eps=epsilon)
 
IMETHOD bool Equal (const TwistVel &a, const Twist &b, double eps=epsilon)
 
IMETHOD bool Equal (const TwistVel &a, const TwistVel &b, double eps=epsilon)
 
bool Equal (const Vector &a, const Vector &b, double eps=epsilon)
 
IMETHOD bool Equal (const Vector &r1, const VectorAcc &r2, double eps=epsilon)
 
IMETHOD bool Equal (const Vector &r1, const VectorVel &r2, double eps=epsilon)
 
bool Equal (const Vector2 &a, const Vector2 &b, double eps=epsilon)
 
IMETHOD bool Equal (const VectorAcc &r1, const Vector &r2, double eps=epsilon)
 
IMETHOD bool Equal (const VectorAcc &r1, const VectorAcc &r2, double eps=epsilon)
 
IMETHOD bool Equal (const VectorVel &r1, const Vector &r2, double eps=epsilon)
 
IMETHOD bool Equal (const VectorVel &r1, const VectorVel &r2, double eps=epsilon)
 
bool Equal (const Wrench &a, const Wrench &b, double eps=epsilon)
 
bool Equal (double a, double b, double eps=epsilon)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > exp (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > exp (const Rall2d< T, V, S > &arg)
 
double exp (double a)
 
static void generatePowers (int n, double x, double *powers)
 
template<class T >
void hash_combine (std::size_t &seed, const T &v)
 Combine hash of object v to the seed. More...
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > hypot (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > hypot (const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x)
 
void IOTrace (const std::string &description)
 
void IOTraceOutput (std::ostream &os)
 outputs the IO-stack to a stream to provide a better errormessage. More...
 
void IOTracePop ()
 pops a description of the IO-stack More...
 
void IOTracePopStr (char *buffer, int size)
 
Chain KukaLWR ()
 
Chain KukaLWR_DHnew ()
 
Chain KukaLWRsegment ()
 
int ldl_solver_eigen (const Eigen::MatrixXd &A, const Eigen::VectorXd &v, Eigen::MatrixXd &L, Eigen::VectorXd &D, Eigen::VectorXd &vtmp, Eigen::VectorXd &q)
 Solves the system of equations Aq = v for q via LDL decomposition, where A is a square positive definite matrix. More...
 
double LinComb (double alfa, double a, double beta, double b)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > LinComb (S alfa, const Rall1d< T, V, S > &a, const T &beta, const Rall1d< T, V, S > &b)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > LinComb (S alfa, const Rall2d< T, V, S > &a, const T &beta, const Rall2d< T, V, S > &b)
 
void LinCombR (double alfa, double a, double beta, double b, double &result)
 
template<class T , class V , class S >
INLINE void LinCombR (S alfa, const Rall1d< T, V, S > &a, const T &beta, const Rall1d< T, V, S > &b, Rall1d< T, V, S > &result)
 
template<class T , class V , class S >
INLINE void LinCombR (S alfa, const Rall2d< T, V, S > &a, const T &beta, const Rall2d< T, V, S > &b, Rall2d< T, V, S > &result)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > log (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > log (const Rall2d< T, V, S > &arg)
 
double log (double a)
 
double max (double a, double b)
 
double min (double a, double b)
 
void Multiply (const JntArray &src, const double &factor, JntArray &dest)
 
void Multiply (const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
 
void Multiply (const JntArrayAcc &src, const doubleAcc &factor, JntArrayAcc &dest)
 
void Multiply (const JntArrayAcc &src, const doubleVel &factor, JntArrayAcc &dest)
 
void Multiply (const JntArrayVel &src, const double &factor, JntArrayVel &dest)
 
void Multiply (const JntArrayVel &src, const doubleVel &factor, JntArrayVel &dest)
 
void Multiply (const JntSpaceInertiaMatrix &src, const double &factor, JntSpaceInertiaMatrix &dest)
 
void Multiply (const JntSpaceInertiaMatrix &src, const JntArray &vec, JntArray &dest)
 
void MultiplyJacobian (const Jacobian &jac, const JntArray &src, Twist &dest)
 
template<class T , class V , class S >
INLINE S Norm (const Rall1d< T, V, S > &value)
 
template<class T , class V , class S >
INLINE S Norm (const Rall2d< T, V, S > &value)
 
double Norm (double arg)
 
template<class T , class V , class S >
INLINE bool operator!= (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
 
template<class T , class V , class S >
INLINE bool operator!= (const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x)
 
Wrench operator* (const ArticulatedBodyInertia &I, const Twist &t)
 
ArticulatedBodyInertia operator* (const Frame &T, const ArticulatedBodyInertia &I)
 
RigidBodyInertia operator* (const Frame &T, const RigidBodyInertia &I)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator* (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator* (const Rall1d< T, V, S > &v, S s)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator* (const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator* (const Rall2d< T, V, S > &v, S s)
 
Wrench operator* (const RigidBodyInertia &I, const Twist &t)
 
Rotation operator* (const Rotation &lhs, const Rotation &rhs)
 
ArticulatedBodyInertia operator* (const Rotation &M, const ArticulatedBodyInertia &I)
 
RigidBodyInertia operator* (const Rotation &M, const RigidBodyInertia &I)
 
Wrench operator* (const Stiffness &s, const Twist &t)
 
ArticulatedBodyInertia operator* (double a, const ArticulatedBodyInertia &I)
 
RigidBodyInertia operator* (double a, const RigidBodyInertia &I)
 
RotationalInertia operator* (double a, const RotationalInertia &I)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator* (S s, const Rall1d< T, V, S > &v)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator* (S s, const Rall2d< T, V, S > &v)
 
ArticulatedBodyInertia operator+ (const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
 
ArticulatedBodyInertia operator+ (const ArticulatedBodyInertia &Ia, const RigidBodyInertia &Ib)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator+ (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator+ (const Rall1d< T, V, S > &v, S s)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator+ (const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator+ (const Rall2d< T, V, S > &v, S s)
 
ArticulatedBodyInertia operator+ (const RigidBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
 
RigidBodyInertia operator+ (const RigidBodyInertia &Ia, const RigidBodyInertia &Ib)
 
RotationalInertia operator+ (const RotationalInertia &Ia, const RotationalInertia &Ib)
 
Stiffness operator+ (const Stiffness &s1, const Stiffness &s2)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator+ (S s, const Rall1d< T, V, S > &v)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator+ (S s, const Rall2d< T, V, S > &v)
 
ArticulatedBodyInertia operator- (const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
 
ArticulatedBodyInertia operator- (const ArticulatedBodyInertia &Ia, const RigidBodyInertia &Ib)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator- (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator- (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator- (const Rall1d< T, V, S > &v, S s)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator- (const Rall2d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator- (const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator- (const Rall2d< T, V, S > &v, S s)
 
ArticulatedBodyInertia operator- (const RigidBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator- (S s, const Rall1d< T, V, S > &v)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator- (S s, const Rall2d< T, V, S > &v)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator/ (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator/ (const Rall1d< T, V, S > &v, S s)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator/ (const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator/ (const Rall2d< T, V, S > &v, S s)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator/ (S s, const Rall1d< T, V, S > &v)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator/ (S s, const Rall2d< T, V, S > &rhs)
 
std::ostream & operator<< (std::ostream &os, const Chain &chain)
 
std::ostream & operator<< (std::ostream &os, const Frame &T)
 
std::ostream & operator<< (std::ostream &os, const Frame2 &T)
 
std::ostream & operator<< (std::ostream &os, const FrameAcc &r)
 
std::ostream & operator<< (std::ostream &os, const FrameVel &r)
 
std::ostream & operator<< (std::ostream &os, const Jacobian &jac)
 
std::ostream & operator<< (std::ostream &os, const JntArray &array)
 
std::ostream & operator<< (std::ostream &os, const JntSpaceInertiaMatrix &jntspaceinertiamatrix)
 
std::ostream & operator<< (std::ostream &os, const Joint &joint)
 
template<class T , class V , class S >
std::ostream & operator<< (std::ostream &os, const Rall1d< T, V, S > &r)
 
template<class T , class V , class S >
std::ostream & operator<< (std::ostream &os, const Rall2d< T, V, S > &r)
 
std::ostream & operator<< (std::ostream &os, const Rotation &R)
 
std::ostream & operator<< (std::ostream &os, const Rotation2 &R)
 
std::ostream & operator<< (std::ostream &os, const RotationAcc &r)
 
std::ostream & operator<< (std::ostream &os, const RotationVel &r)
 
std::ostream & operator<< (std::ostream &os, const Segment &segment)
 
std::ostream & operator<< (std::ostream &os, const Tree &tree)
 
std::ostream & operator<< (std::ostream &os, const Twist &v)
 
std::ostream & operator<< (std::ostream &os, const TwistAcc &r)
 
std::ostream & operator<< (std::ostream &os, const TwistVel &r)
 
std::ostream & operator<< (std::ostream &os, const Vector &v)
 
std::ostream & operator<< (std::ostream &os, const Vector2 &v)
 
std::ostream & operator<< (std::ostream &os, const VectorAcc &r)
 
std::ostream & operator<< (std::ostream &os, const VectorVel &r)
 
std::ostream & operator<< (std::ostream &os, const Wrench &v)
 
std::ostream & operator<< (std::ostream &os, SegmentMap::const_iterator root)
 
bool operator== (const JntArray &src1, const JntArray &src2)
 
bool operator== (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2)
 
template<class T , class V , class S >
INLINE bool operator== (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
 
template<class T , class V , class S >
INLINE bool operator== (const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x)
 
bool operator== (const Rotation &a, const Rotation &b)
 
std::istream & operator>> (std::istream &is, Chain &chain)
 
std::istream & operator>> (std::istream &is, Frame &T)
 
std::istream & operator>> (std::istream &is, Frame2 &T)
 
std::istream & operator>> (std::istream &is, Jacobian &jac)
 
std::istream & operator>> (std::istream &is, JntArray &array)
 
std::istream & operator>> (std::istream &is, JntSpaceInertiaMatrix &jntspaceinertiamatrix)
 
std::istream & operator>> (std::istream &is, Joint &joint)
 
std::istream & operator>> (std::istream &is, Rotation &r)
 
std::istream & operator>> (std::istream &is, Rotation2 &r)
 
std::istream & operator>> (std::istream &is, Segment &segment)
 
std::istream & operator>> (std::istream &is, Tree &tree)
 
std::istream & operator>> (std::istream &is, Twist &v)
 
std::istream & operator>> (std::istream &is, Vector &v)
 
std::istream & operator>> (std::istream &is, Vector2 &v)
 
std::istream & operator>> (std::istream &is, Wrench &v)
 
void posrandom (double &a)
 
IMETHOD void posrandom (doubleVel &F)
 
IMETHOD void posrandom (FrameVel &F)
 
template<typename T >
void posrandom (Jacobian< T > &rv)
 
IMETHOD void posrandom (RotationVel &R)
 
void posrandom (Stiffness &F)
 
IMETHOD void posrandom (TwistVel &a)
 
IMETHOD void posrandom (VectorVel &a)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > pow (const Rall1d< T, V, S > &arg, double m)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > pow (const Rall2d< T, V, S > &arg, double m)
 
double pow (double a, double b)
 
Chain Puma560 ()
 
double PYTHAG (double a, double b)
 
void random (double &a)
 
IMETHOD void random (doubleVel &F)
 
IMETHOD void random (FrameVel &F)
 
template<typename T >
void random (Jacobian< T > &rv)
 
IMETHOD void random (RotationVel &R)
 
void random (Stiffness &F)
 
IMETHOD void random (TwistVel &a)
 
IMETHOD void random (VectorVel &a)
 
void SetToIdentity (double &arg)
 to uniformly set double, RNDouble,Vector,... objects to the identity element in template-classes More...
 
template<class T , class V , class S >
INLINE void SetToIdentity (Rall1d< T, V, S > &value)
 
template<class T , class V , class S >
INLINE void SetToIdentity (Rall2d< T, V, S > &value)
 
void SetToZero (double &arg)
 to uniformly set double, RNDouble,Vector,... objects to zero in template-classes More...
 
void SetToZero (Jacobian &jac)
 
void SetToZero (JntArray &array)
 
void SetToZero (JntArrayAcc &array)
 
void SetToZero (JntArrayVel &array)
 
void SetToZero (JntSpaceInertiaMatrix &mat)
 
template<class T , class V , class S >
INLINE void SetToZero (Rall1d< T, V, S > &value)
 
template<class T , class V , class S >
INLINE void SetToZero (Rall2d< T, V, S > &value)
 
double SIGN (double a, double b)
 
double sign (double arg)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > sin (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > sin (const Rall2d< T, V, S > &arg)
 
double sin (double a)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > sinh (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > sinh (const Rall2d< T, V, S > &arg)
 
double sinh (double a)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > sqr (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > sqr (const Rall2d< T, V, S > &arg)
 
double sqr (double arg)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > sqrt (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > sqrt (const Rall2d< T, V, S > &arg)
 
double sqrt (double a)
 
void Subtract (const JntArray &src1, const JntArray &src2, JntArray &dest)
 
void Subtract (const JntArrayAcc &src1, const JntArray &src2, JntArrayAcc &dest)
 
void Subtract (const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
 
void Subtract (const JntArrayAcc &src1, const JntArrayVel &src2, JntArrayAcc &dest)
 
void Subtract (const JntArrayVel &src1, const JntArray &src2, JntArrayVel &dest)
 
void Subtract (const JntArrayVel &src1, const JntArrayVel &src2, JntArrayVel &dest)
 
void Subtract (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2, JntSpaceInertiaMatrix &dest)
 
int svd_eigen_HH (const Eigen::MatrixXd &A, Eigen::MatrixXd &U, Eigen::VectorXd &S, Eigen::MatrixXd &V, Eigen::VectorXd &tmp, int maxiter, double epsilon)
 
int svd_eigen_Macie (const Eigen::MatrixXd &A, Eigen::MatrixXd &U, Eigen::VectorXd &S, Eigen::MatrixXd &V, Eigen::MatrixXd &B, Eigen::VectorXd &tempi, double threshold, bool toggle)
 
template<typename T >
void swap (scoped_ptr< T > &, scoped_ptr< T > &)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > tan (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > tan (const Rall2d< T, V, S > &arg)
 
double tan (double a)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > tanh (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > tanh (const Rall2d< T, V, S > &arg)
 
double tanh (double a)
 
std::string tree2str (const SegmentMap::const_iterator it, const std::string &separator, const std::string &preamble, unsigned int level)
 
std::string tree2str (const Tree &tree, const std::string &separator, const std::string &preamble)
 
template<typename Derived >
void Twist_to_Eigen (const KDL::Twist &t, Eigen::MatrixBase< Derived > &e)
 
char Upper (char ch)
 

Variables

const double deg2rad = 0.017453292519943295769236907684886127
 the value pi/180 More...
 
double epsilon = 1e-6
 default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001. More...
 
static ErrorStack errorstack
 
static const double L0 = 1.0
 
static const double L1 = 0.5
 
static const double L2 = 0.4
 
static const double L3 = 0
 
static const double L4 = 0
 
static const double L5 = 0
 
int MAXLENFILENAME = 255
 maximal length of a file name More...
 
const static bool mhi =true
 
const double PI = 3.141592653589793238462643383279502884
 the value of pi More...
 
const double PI_2 = 1.570796326794896619231321691639751442
 the value of pi/2 More...
 
const double PI_4 = 0.785398163397448309615660845819875721
 the value of pi/4 More...
 
const double rad2deg = 57.29577951308232087679815481410517033
 the value 180/pi More...
 
int STREAMBUFFERSIZE = 10000
 
int VSIZE
 the number of derivatives used in the RN-... objects. More...
 

Typedef Documentation

◆ doubleAcc

typedef Rall2d<double,double,double> KDL::doubleAcc

Definition at line 65 of file frameacc.hpp.

◆ doubleVel

typedef Rall1d<double> KDL::doubleVel

Definition at line 55 of file framevel.hpp.

◆ ErrorStack

typedef std::stack<std::string> KDL::ErrorStack

Definition at line 40 of file error_stack.cxx.

◆ Frames

typedef std::map<std::string, Frame> KDL::Frames

Definition at line 20 of file treeiksolver.hpp.

◆ Jacobians

typedef std::map<std::string, Jacobian> KDL::Jacobians

Definition at line 19 of file treeiksolver.hpp.

◆ SegmentMap

typedef std::map<std::string,TreeElement> KDL::SegmentMap

Definition at line 39 of file tree.hpp.

◆ TreeElementType

typedef TreeElement KDL::TreeElementType

Definition at line 57 of file tree.hpp.

◆ Twists

typedef std::map<std::string, Twist> KDL::Twists

Definition at line 18 of file treeiksolver.hpp.

◆ Wrenches

typedef std::vector< Wrench > KDL::Wrenches

Definition at line 34 of file chainfdsolver.hpp.

◆ WrenchMap

typedef std::map<std::string,Wrench> KDL::WrenchMap

Definition at line 33 of file treeidsolver.hpp.

Function Documentation

◆ _check_istream()

void KDL::_check_istream ( std::istream &  is)

checks validity of basic io of is

Definition at line 47 of file utility_io.cxx.

◆ _EatSpace()

int KDL::_EatSpace ( std::istream &  is,
int *  countp = NULL 
)

Definition at line 91 of file utility_io.cxx.

◆ _EatUntilEndOfComment()

int KDL::_EatUntilEndOfComment ( std::istream &  is,
int *  countp = NULL 
)

Definition at line 69 of file utility_io.cxx.

◆ _EatUntilEndOfLine()

int KDL::_EatUntilEndOfLine ( std::istream &  is,
int *  countp = NULL 
)

Definition at line 55 of file utility_io.cxx.

◆ abs() [1/2]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::abs ( const Rall1d< T, V, S > &  x)

Definition at line 431 of file rall1d.h.

◆ abs() [2/2]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::abs ( const Rall2d< T, V, S > &  x)

Definition at line 487 of file rall2d.h.

◆ acos() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::acos ( const Rall1d< T, V, S > &  x)

Definition at line 423 of file rall1d.h.

◆ acos() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::acos ( const Rall2d< T, V, S > &  arg)

Definition at line 451 of file rall2d.h.

◆ acos() [3/3]

double KDL::acos ( double  a)
inline

Definition at line 113 of file utility.h.

◆ Add() [1/7]

void KDL::Add ( const JntArray &  src1,
const JntArray &  src2,
JntArray &  dest 
)

Function to add two joint arrays, all the arguments must have the same size: A + B = C. This function is aliasing-safe, A or B can be the same array as C.

Parameters
src1A
src2B
destC

Definition at line 80 of file jntarray.cpp.

◆ Add() [2/7]

void KDL::Add ( const JntArrayAcc &  src1,
const JntArray &  src2,
JntArrayAcc &  dest 
)

Definition at line 78 of file jntarrayacc.cpp.

◆ Add() [3/7]

void KDL::Add ( const JntArrayAcc &  src1,
const JntArrayAcc &  src2,
JntArrayAcc &  dest 
)

Definition at line 66 of file jntarrayacc.cpp.

◆ Add() [4/7]

void KDL::Add ( const JntArrayAcc &  src1,
const JntArrayVel &  src2,
JntArrayAcc &  dest 
)

Definition at line 72 of file jntarrayacc.cpp.

◆ Add() [5/7]

void KDL::Add ( const JntArrayVel &  src1,
const JntArray &  src2,
JntArrayVel &  dest 
)

Definition at line 62 of file jntarrayvel.cpp.

◆ Add() [6/7]

void KDL::Add ( const JntArrayVel &  src1,
const JntArrayVel &  src2,
JntArrayVel &  dest 
)

Definition at line 57 of file jntarrayvel.cpp.

◆ Add() [7/7]

void KDL::Add ( const JntSpaceInertiaMatrix &  src1,
const JntSpaceInertiaMatrix &  src2,
JntSpaceInertiaMatrix &  dest 
)

Definition at line 79 of file jntspaceinertiamatrix.cpp.

◆ addDelta() [1/10]

IMETHOD doubleVel KDL::addDelta ( const doubleVel &  a,
const doubleVel &  da,
double  dt = 1.0 
)

Definition at line 61 of file framevel.hpp.

◆ addDelta() [2/10]

IMETHOD Frame KDL::addDelta ( const Frame &  F_w_a,
const Twist &  da_w,
double  dt = 1 
)

returns the frame resulting from the rotation of frame a by the axis and angle specified in da_w and the translation of the origin (also specified in da_w).

see also the corresponding diff() routine.

Parameters
R_w_aRotation matrix of frame a expressed to some frame w.
da_waxis and angle of the rotation (da_w.rot), together with a displacement vector for the origin (da_w.vel), expressed to some frame w.
Returns
the frame resulting from the rotation of frame a by the axis and angle specified with da.rot, and the translation of the origin da_w.vel . The resulting frame is expressed with respect to frame w.

◆ addDelta() [3/10]

IMETHOD FrameVel KDL::addDelta ( const FrameVel &  a,
const TwistVel &  da,
double  dt = 1.0 
)

Definition at line 365 of file framevel.hpp.

◆ addDelta() [4/10]

IMETHOD Rotation KDL::addDelta ( const Rotation &  R_w_a,
const Vector &  da_w,
double  dt = 1 
)

returns the rotation matrix resulting from the rotation of frame a by the axis and angle specified with da_w.

see also the corresponding diff() routine.

Parameters
R_w_aRotation matrix of frame a expressed to some frame w.
da_waxis and angle of the rotation expressed to some frame w.
Returns
the rotation matrix resulting from the rotation of frame a by the axis and angle specified with da. The resulting rotation matrix is expressed with respect to frame w.

◆ addDelta() [5/10]

IMETHOD RotationVel KDL::addDelta ( const RotationVel &  a,
const VectorVel &  da,
double  dt = 1.0 
)

Definition at line 357 of file framevel.hpp.

◆ addDelta() [6/10]

IMETHOD Twist KDL::addDelta ( const Twist &  a,
const Twist &  da,
double  dt = 1 
)

adds the twist da to the twist a. see also the corresponding diff() routine.

Parameters
aa twist wrt some frame
daa twist difference wrt some frame
Returns
The twist (a+da) wrt the corresponding frame.

◆ addDelta() [7/10]

IMETHOD Vector KDL::addDelta ( const Vector &  p_w_a,
const Vector &  p_w_da,
double  dt = 1 
)

adds vector da to vector a. see also the corresponding diff() routine.

Parameters
p_w_avector a expressed to some frame w.
p_w_davector da expressed to some frame w.
Returns
the vector resulting from the displacement of vector a by vector da, expressed in the frame w.

◆ addDelta() [8/10]

IMETHOD VectorVel KDL::addDelta ( const VectorVel &  a,
const VectorVel &  da,
double  dt = 1.0 
)

Definition at line 350 of file framevel.hpp.

◆ addDelta() [9/10]

IMETHOD Wrench KDL::addDelta ( const Wrench &  a,
const Wrench &  da,
double  dt = 1 
)

adds the wrench da to the wrench w. see also the corresponding diff() routine. see also the corresponding diff() routine.

Parameters
aa wrench wrt some frame
daa wrench difference wrt some frame
Returns
the wrench (a+da) wrt the corresponding frame.

◆ addDelta() [10/10]

double KDL::addDelta ( double  a,
double  da,
double  dt 
)
inline

Definition at line 288 of file utility.h.

◆ asin() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::asin ( const Rall1d< T, V, S > &  x)

Definition at line 415 of file rall1d.h.

◆ asin() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::asin ( const Rall2d< T, V, S > &  arg)

Definition at line 439 of file rall2d.h.

◆ asin() [3/3]

double KDL::asin ( double  a)
inline

Definition at line 116 of file utility.h.

◆ atan() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::atan ( const Rall1d< T, V, S > &  x)

Definition at line 399 of file rall1d.h.

◆ atan() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::atan ( const Rall2d< T, V, S > &  x)

Definition at line 464 of file rall2d.h.

◆ atan() [3/3]

double KDL::atan ( double  a)
inline

Definition at line 110 of file utility.h.

◆ atan2() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::atan2 ( const Rall1d< T, V, S > &  y,
const Rall1d< T, V, S > &  x 
)

Definition at line 453 of file rall1d.h.

◆ atan2() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::atan2 ( const Rall2d< T, V, S > &  y,
const Rall2d< T, V, S > &  x 
)

Definition at line 476 of file rall2d.h.

◆ atan2() [3/3]

double KDL::atan2 ( double  a,
double  b 
)
inline

Definition at line 125 of file utility.h.

◆ changeBase()

bool KDL::changeBase ( const Jacobian &  src1,
const Rotation &  rot,
Jacobian &  dest 
)

Definition at line 103 of file jacobian.cpp.

◆ changeRefFrame()

bool KDL::changeRefFrame ( const Jacobian &  src1,
const Frame &  frame,
Jacobian &  dest 
)

Definition at line 117 of file jacobian.cpp.

◆ changeRefPoint()

bool KDL::changeRefPoint ( const Jacobian &  src1,
const Vector &  base_AB,
Jacobian &  dest 
)

Definition at line 89 of file jacobian.cpp.

◆ checkDiffs()

void KDL::checkDiffs ( )

Definition at line 13 of file jacobianframetests.cpp.

◆ checkDoubleOps()

void KDL::checkDoubleOps ( )

Definition at line 6 of file jacobiandoubletests.cpp.

◆ checkEqual()

template<typename T >
void KDL::checkEqual ( const T &  a,
const T &  b,
double  eps 
)
inline

Definition at line 34 of file jacobiantests.hpp.

◆ checkEulerZYX()

void KDL::checkEulerZYX ( )

Definition at line 50 of file jacobianframetests.cpp.

◆ checkFrameOps()

void KDL::checkFrameOps ( )

Definition at line 89 of file jacobianframetests.cpp.

◆ checkFrameVelOps()

void KDL::checkFrameVelOps ( )

Definition at line 132 of file jacobianframetests.cpp.

◆ cos() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::cos ( const Rall1d< T, V, S > &  arg)

Definition at line 343 of file rall1d.h.

◆ cos() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::cos ( const Rall2d< T, V, S > &  arg)

Definition at line 368 of file rall2d.h.

◆ cos() [3/3]

double KDL::cos ( double  a)
inline

Definition at line 89 of file utility.h.

◆ cosh() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::cosh ( const Rall1d< T, V, S > &  arg)

Definition at line 367 of file rall1d.h.

◆ cosh() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::cosh ( const Rall2d< T, V, S > &  arg)

Definition at line 392 of file rall2d.h.

◆ cosh() [3/3]

double KDL::cosh ( double  a)
inline

Definition at line 101 of file utility.h.

◆ d2()

Chain KDL::d2 ( )

Definition at line 18 of file jacobiandottest.cpp.

◆ d6()

Chain KDL::d6 ( )

Definition at line 24 of file jacobiandottest.cpp.

◆ diff() [1/10]

IMETHOD doubleVel KDL::diff ( const doubleVel &  a,
const doubleVel &  b,
double  dt = 1.0 
)

Definition at line 57 of file framevel.hpp.

◆ diff() [2/10]

IMETHOD Twist KDL::diff ( const Frame &  F_a_b1,
const Frame &  F_a_b2,
double  dt = 1 
)

determines the rotation axis necessary to rotate the frame b1 to the same orientation as frame b2 and the vector necessary to translate the origin of b1 to the origin of b2, and stores the result in a Twist datastructure.

Parameters
F_a_b1frame b1 expressed with respect to some frame a.
F_a_b2frame b2 expressed with respect to some frame a.
Warning
The result is not a Twist!
see diff() for Rotation and Vector arguments for further detail on the semantics.

◆ diff() [3/10]

IMETHOD TwistVel KDL::diff ( const FrameVel &  a,
const FrameVel &  b,
double  dt = 1.0 
)

Definition at line 361 of file framevel.hpp.

◆ diff() [4/10]

IMETHOD Vector KDL::diff ( const Rotation &  R_a_b1,
const Rotation &  R_a_b2,
double  dt = 1 
)

determines the (scaled) rotation axis necessary to rotate from b1 to b2.

This rotation axis is expressed w.r.t. frame a. The rotation axis is scaled by the necessary rotation angle. The rotation angle is always in the (inclusive) interval \( [0 , \pi] \).

This definition is chosen in this way to facilitate numerical differentiation. With this definition diff(a,b) == -diff(b,a).

The diff() function is overloaded for all classes in frames.hpp and framesvel.hpp, such that numerical differentiation, equality checks with tolerances, etc. can be performed without caring exactly on which type the operation is performed.

Parameters
R_a_b1The rotation matrix \( _a^{b1} R \) of b1 with respect to frame a.
R_a_b2The Rotation matrix \( _a^{b2} R \) of b2 with respect to frame a.
dt[optional][obsolete] time interval over which the numerical differentiation takes place. By default this is set to 1.0.
Returns
rotation axis to rotate from b1 to b2, scaled by the rotation angle, expressed in frame a.
Warning
- The result is not a rotational vector, i.e. it is not a mathematical vector. (no communitative addition).
- When used in the context of numerical differentiation, with the frames b1 and b2 very close to each other, the semantics correspond to the twist, scaled by the time.
- For angles equal to \( \pi \), The negative of the return value is equally valid.

◆ diff() [5/10]

IMETHOD VectorVel KDL::diff ( const RotationVel &  a,
const RotationVel &  b,
double  dt = 1.0 
)

Definition at line 353 of file framevel.hpp.

◆ diff() [6/10]

IMETHOD Twist KDL::diff ( const Twist &  a,
const Twist &  b,
double  dt = 1 
)

determines the difference between two twists i.e. the difference between the underlying velocity vectors and rotational velocity vectors.

◆ diff() [7/10]

IMETHOD Vector KDL::diff ( const Vector &  p_w_a,
const Vector &  p_w_b,
double  dt = 1 
)

determines the difference of vector b with vector a.

see diff for Rotation matrices for further background information.

Parameters
p_w_astart vector a expressed to some frame w
p_w_bend vector b expressed to some frame w .
dt[optional][obsolete] time interval over which the numerical differentiation takes place.
Returns
the difference (b-a) expressed to the frame w.

◆ diff() [8/10]

IMETHOD VectorVel KDL::diff ( const VectorVel &  a,
const VectorVel &  b,
double  dt = 1.0 
)

Definition at line 346 of file framevel.hpp.

◆ diff() [9/10]

IMETHOD Wrench KDL::diff ( const Wrench &  W_a_p1,
const Wrench &  W_a_p2,
double  dt = 1 
)

determines the difference between two wrenches i.e. the difference between the underlying torque vectors and force vectors.

◆ diff() [10/10]

double KDL::diff ( double  a,
double  b,
double  dt 
)
inline

Definition at line 282 of file utility.h.

◆ Divide() [1/7]

void KDL::Divide ( const JntArray &  src,
const double &  factor,
JntArray &  dest 
)

Function to divide all the array values with a scalar factor: A/b=C. This function is aliasing-safe, A can be the same array as C.

Parameters
srcA
factorb
destC

Definition at line 95 of file jntarray.cpp.

◆ Divide() [2/7]

void KDL::Divide ( const JntArrayAcc &  src,
const double &  factor,
JntArrayAcc &  dest 
)

Definition at line 133 of file jntarrayacc.cpp.

◆ Divide() [3/7]

void KDL::Divide ( const JntArrayAcc &  src,
const doubleAcc &  factor,
JntArrayAcc &  dest 
)

Definition at line 151 of file jntarrayacc.cpp.

◆ Divide() [4/7]

void KDL::Divide ( const JntArrayAcc &  src,
const doubleVel &  factor,
JntArrayAcc &  dest 
)

Definition at line 139 of file jntarrayacc.cpp.

◆ Divide() [5/7]

void KDL::Divide ( const JntArrayVel &  src,
const double &  factor,
JntArrayVel &  dest 
)

Definition at line 92 of file jntarrayvel.cpp.

◆ Divide() [6/7]

void KDL::Divide ( const JntArrayVel &  src,
const doubleVel &  factor,
JntArrayVel &  dest 
)

Definition at line 97 of file jntarrayvel.cpp.

◆ Divide() [7/7]

void KDL::Divide ( const JntSpaceInertiaMatrix &  src,
const double &  factor,
JntSpaceInertiaMatrix &  dest 
)

Definition at line 94 of file jntspaceinertiamatrix.cpp.

◆ Eat() [1/2]

void KDL::Eat ( std::istream &  is,
const char *  descript 
)

Eats characters of the stream as long as they satisfy the description in descript

Parameters
isa stream
descriptdescription string. A sequence of spaces, tabs, new-lines and comments is regarded as 1 space in the description string.

Definition at line 166 of file utility_io.cxx.

◆ Eat() [2/2]

void KDL::Eat ( std::istream &  is,
int  delim 
)

Eats characters of the stream until the character delim is encountered

Parameters
isa stream
delimeat until this character is encountered

Definition at line 123 of file utility_io.cxx.

◆ EatEnd()

void KDL::EatEnd ( std::istream &  is,
int  delim 
)

Eats characters of the stream until the character delim is encountered similar to Eat(is,delim) but spaces at the end are not read.

Parameters
isa stream
delimeat until this character is encountered

Definition at line 137 of file utility_io.cxx.

◆ EatWord()

void KDL::EatWord ( std::istream &  is,
const char *  delim,
char *  storage,
int  maxsize 
)

Eats a word of the stream delimited by the letters in delim or space(tabs...)

Parameters
isa stream
delima string containing the delimmiting characters
storagefor returning the word
maxsizea word can be maximally maxsize-1 long.

Definition at line 197 of file utility_io.cxx.

◆ Equal() [1/40]

bool KDL::Equal ( const Frame &  a,
const Frame &  b,
double  eps = epsilon 
)
inline

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

◆ Equal() [2/40]

IMETHOD bool KDL::Equal ( const Frame &  r1,
const FrameAcc &  r2,
double  eps = epsilon 
)

◆ Equal() [3/40]

IMETHOD bool KDL::Equal ( const Frame &  r1,
const FrameVel &  r2,
double  eps = epsilon 
)

◆ Equal() [4/40]

bool KDL::Equal ( const Frame2 &  a,
const Frame2 &  b,
double  eps = epsilon 
)
inline

◆ Equal() [5/40]

IMETHOD bool KDL::Equal ( const FrameAcc &  r1,
const Frame &  r2,
double  eps = epsilon 
)

◆ Equal() [6/40]

IMETHOD bool KDL::Equal ( const FrameAcc &  r1,
const FrameAcc &  r2,
double  eps = epsilon 
)

◆ Equal() [7/40]

IMETHOD bool KDL::Equal ( const FrameVel &  r1,
const Frame &  r2,
double  eps = epsilon 
)

◆ Equal() [8/40]

IMETHOD bool KDL::Equal ( const FrameVel &  r1,
const FrameVel &  r2,
double  eps = epsilon 
)

◆ Equal() [9/40]

bool KDL::Equal ( const Jacobian &  a,
const Jacobian &  b,
double  eps 
)

Definition at line 136 of file jacobian.cpp.

◆ Equal() [10/40]

bool KDL::Equal ( const JntArray &  src1,
const JntArray &  src2,
double  eps = epsilon 
)

Function to check if two arrays are the same with a precision of eps

Parameters
src1
src2
epsdefault: epsilon
Returns
true if each element of src1 is within eps of the same element in src2, or if both src1 and src2 have no data (ie 0==rows())

Definition at line 111 of file jntarray.cpp.

◆ Equal() [11/40]

bool KDL::Equal ( const JntArrayAcc &  src1,
const JntArrayAcc &  src2,
double  eps 
)

Definition at line 171 of file jntarrayacc.cpp.

◆ Equal() [12/40]

bool KDL::Equal ( const JntArrayVel &  src1,
const JntArrayVel &  src2,
double  eps 
)

Definition at line 111 of file jntarrayvel.cpp.

◆ Equal() [13/40]

bool KDL::Equal ( const JntSpaceInertiaMatrix &  src1,
const JntSpaceInertiaMatrix &  src2,
double  eps 
)

Definition at line 109 of file jntspaceinertiamatrix.cpp.

◆ Equal() [14/40]

template<class T , class V , class S >
INLINE bool KDL::Equal ( const Rall1d< T, V, S > &  y,
const Rall1d< T, V, S > &  x,
double  eps = epsilon 
)

Definition at line 491 of file rall1d.h.

◆ Equal() [15/40]

template<class T , class V , class S >
INLINE bool KDL::Equal ( const Rall2d< T, V, S > &  y,
const Rall2d< T, V, S > &  x,
double  eps = epsilon 
)

Definition at line 548 of file rall2d.h.

◆ Equal() [16/40]

bool KDL::Equal ( const Rotation &  a,
const Rotation &  b,
double  eps 
)

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

Definition at line 184 of file frames.cpp.

◆ Equal() [17/40]

IMETHOD bool KDL::Equal ( const Rotation &  r1,
const RotationAcc &  r2,
double  eps = epsilon 
)

◆ Equal() [18/40]

IMETHOD bool KDL::Equal ( const Rotation &  r1,
const RotationVel &  r2,
double  eps = epsilon 
)

◆ Equal() [19/40]

bool KDL::Equal ( const Rotation2 &  a,
const Rotation2 &  b,
double  eps = epsilon 
)
inline

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

◆ Equal() [20/40]

IMETHOD bool KDL::Equal ( const RotationAcc &  r1,
const Rotation &  r2,
double  eps = epsilon 
)

◆ Equal() [21/40]

IMETHOD bool KDL::Equal ( const RotationAcc &  r1,
const RotationAcc &  r2,
double  eps = epsilon 
)

◆ Equal() [22/40]

IMETHOD bool KDL::Equal ( const RotationVel &  r1,
const Rotation &  r2,
double  eps = epsilon 
)

◆ Equal() [23/40]

IMETHOD bool KDL::Equal ( const RotationVel &  r1,
const RotationVel &  r2,
double  eps = epsilon 
)

◆ Equal() [24/40]

bool KDL::Equal ( const Twist &  a,
const Twist &  b,
double  eps = epsilon 
)
inline

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

◆ Equal() [25/40]

IMETHOD bool KDL::Equal ( const Twist &  a,
const TwistAcc &  b,
double  eps = epsilon 
)

◆ Equal() [26/40]

IMETHOD bool KDL::Equal ( const Twist &  a,
const TwistVel &  b,
double  eps = epsilon 
)

◆ Equal() [27/40]

IMETHOD bool KDL::Equal ( const TwistAcc &  a,
const Twist &  b,
double  eps = epsilon 
)

◆ Equal() [28/40]

IMETHOD bool KDL::Equal ( const TwistAcc &  a,
const TwistAcc &  b,
double  eps = epsilon 
)

◆ Equal() [29/40]

IMETHOD bool KDL::Equal ( const TwistVel &  a,
const Twist &  b,
double  eps = epsilon 
)

◆ Equal() [30/40]

IMETHOD bool KDL::Equal ( const TwistVel &  a,
const TwistVel &  b,
double  eps = epsilon 
)

◆ Equal() [31/40]

bool KDL::Equal ( const Vector &  a,
const Vector &  b,
double  eps = epsilon 
)
inline

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

◆ Equal() [32/40]

IMETHOD bool KDL::Equal ( const Vector &  r1,
const VectorAcc &  r2,
double  eps = epsilon 
)

◆ Equal() [33/40]

IMETHOD bool KDL::Equal ( const Vector &  r1,
const VectorVel &  r2,
double  eps = epsilon 
)

◆ Equal() [34/40]

bool KDL::Equal ( const Vector2 &  a,
const Vector2 &  b,
double  eps = epsilon 
)
inline

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

◆ Equal() [35/40]

IMETHOD bool KDL::Equal ( const VectorAcc &  r1,
const Vector &  r2,
double  eps = epsilon 
)

◆ Equal() [36/40]

IMETHOD bool KDL::Equal ( const VectorAcc &  r1,
const VectorAcc &  r2,
double  eps = epsilon 
)

◆ Equal() [37/40]

IMETHOD bool KDL::Equal ( const VectorVel &  r1,
const Vector &  r2,
double  eps = epsilon 
)

◆ Equal() [38/40]

IMETHOD bool KDL::Equal ( const VectorVel &  r1,
const VectorVel &  r2,
double  eps = epsilon 
)

◆ Equal() [39/40]

bool KDL::Equal ( const Wrench &  a,
const Wrench &  b,
double  eps = epsilon 
)
inline

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

◆ Equal() [40/40]

bool KDL::Equal ( double  a,
double  b,
double  eps = epsilon 
)
inline

Definition at line 268 of file utility.h.

◆ exp() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::exp ( const Rall1d< T, V, S > &  arg)

Definition at line 319 of file rall1d.h.

◆ exp() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::exp ( const Rall2d< T, V, S > &  arg)

Definition at line 340 of file rall2d.h.

◆ exp() [3/3]

double KDL::exp ( double  a)
inline

Definition at line 92 of file utility.h.

◆ generatePowers()

static void KDL::generatePowers ( int  n,
double  x,
double *  powers 
)
inlinestatic

Definition at line 8 of file velocityprofile_spline.cpp.

◆ hash_combine()

template<class T >
void KDL::hash_combine ( std::size_t &  seed,
const T &  v 
)
inline

Combine hash of object v to the seed.

Parameters
seedSeed to append the hash of v
vObject of which the hash should be appended to the seed

Inspired by: https://github.com/boostorg/multiprecision/blob/boost-1.79.0/include/boost/multiprecision/detail/hash.hpp#L35-L41

Definition at line 18 of file hash_combine.h.

◆ hypot() [1/2]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::hypot ( const Rall1d< T, V, S > &  y,
const Rall1d< T, V, S > &  x 
)

Definition at line 407 of file rall1d.h.

◆ hypot() [2/2]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::hypot ( const Rall2d< T, V, S > &  y,
const Rall2d< T, V, S > &  x 
)

Definition at line 494 of file rall2d.h.

◆ IOTrace()

void KDL::IOTrace ( const std::string &  description)

Definition at line 46 of file error_stack.cxx.

◆ IOTraceOutput()

void KDL::IOTraceOutput ( std::ostream &  os)

outputs the IO-stack to a stream to provide a better errormessage.

Definition at line 55 of file error_stack.cxx.

◆ IOTracePop()

void KDL::IOTracePop ( )

pops a description of the IO-stack

Definition at line 51 of file error_stack.cxx.

◆ IOTracePopStr()

void KDL::IOTracePopStr ( char *  buffer,
int  size 
)

outputs one element of the IO-stack to the buffer (maximally size chars) returns empty string if no elements on the stack.

Definition at line 63 of file error_stack.cxx.

◆ KukaLWR()

Chain KDL::KukaLWR ( )

◆ KukaLWR_DHnew()

Chain KDL::KukaLWR_DHnew ( )

Definition at line 26 of file kukaLWR_DHnew.cpp.

◆ KukaLWRsegment()

Chain KDL::KukaLWRsegment ( )

◆ ldl_solver_eigen()

int KDL::ldl_solver_eigen ( const Eigen::MatrixXd &  A,
const Eigen::VectorXd &  v,
Eigen::MatrixXd &  L,
Eigen::VectorXd &  D,
Eigen::VectorXd &  vtmp,
Eigen::VectorXd &  q 
)

Solves the system of equations Aq = v for q via LDL decomposition, where A is a square positive definite matrix.

The algorithm factor A into the product of three matrices LDL^T, where L is a lower triangular matrix and D is a diagonal matrix. This allows q to be computed without explicitly inverting A. Note that the LDL decomposition is a variant of the classical Cholesky Decomposition that does not require the computation of square roots. Input parameters:

Parameters
Amatrix<double>(nxn)
vvector<double> n
vtmpvector<double> n [temp variable] Output parameters:
Lmatrix<double>(nxn)
Dvector<double> n
qvector<double> n
Returns
0 if successful, E_SIZE_MISMATCH if dimensions do not match References: https://en.wikipedia.org/wiki/Cholesky_decomposition

Definition at line 26 of file ldl_solver_eigen.cpp.

◆ LinComb() [1/3]

double KDL::LinComb ( double  alfa,
double  a,
double  beta,
double  b 
)
inline

Definition at line 231 of file utility.h.

◆ LinComb() [2/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::LinComb ( S  alfa,
const Rall1d< T, V, S > &  a,
const T &  beta,
const Rall1d< T, V, S > &  b 
)

Definition at line 461 of file rall1d.h.

◆ LinComb() [3/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::LinComb ( S  alfa,
const Rall2d< T, V, S > &  a,
const T &  beta,
const Rall2d< T, V, S > &  b 
)

Definition at line 514 of file rall2d.h.

◆ LinCombR() [1/3]

void KDL::LinCombR ( double  alfa,
double  a,
double  beta,
double  b,
double &  result 
)
inline

Definition at line 236 of file utility.h.

◆ LinCombR() [2/3]

template<class T , class V , class S >
INLINE void KDL::LinCombR ( S  alfa,
const Rall1d< T, V, S > &  a,
const T &  beta,
const Rall1d< T, V, S > &  b,
Rall1d< T, V, S > &  result 
)

Definition at line 470 of file rall1d.h.

◆ LinCombR() [3/3]

template<class T , class V , class S >
INLINE void KDL::LinCombR ( S  alfa,
const Rall2d< T, V, S > &  a,
const T &  beta,
const Rall2d< T, V, S > &  b,
Rall2d< T, V, S > &  result 
)

Definition at line 524 of file rall2d.h.

◆ log() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::log ( const Rall1d< T, V, S > &  arg)

Definition at line 327 of file rall1d.h.

◆ log() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::log ( const Rall2d< T, V, S > &  arg)

Definition at line 350 of file rall2d.h.

◆ log() [3/3]

double KDL::log ( double  a)
inline

Definition at line 95 of file utility.h.

◆ max()

double KDL::max ( double  a,
double  b 
)
inline

Definition at line 204 of file utility.h.

◆ min()

double KDL::min ( double  a,
double  b 
)
inline

Definition at line 212 of file utility.h.

◆ Multiply() [1/8]

void KDL::Multiply ( const JntArray &  src,
const double &  factor,
JntArray &  dest 
)

Function to multiply all the array values with a scalar factor: A*b=C. This function is aliasing-safe, A can be the same array as C.

Parameters
srcA
factorb
destC

Definition at line 90 of file jntarray.cpp.

◆ Multiply() [2/8]

void KDL::Multiply ( const JntArrayAcc &  src,
const double &  factor,
JntArrayAcc &  dest 
)

Definition at line 104 of file jntarrayacc.cpp.

◆ Multiply() [3/8]

void KDL::Multiply ( const JntArrayAcc &  src,
const doubleAcc &  factor,
JntArrayAcc &  dest 
)

Definition at line 120 of file jntarrayacc.cpp.

◆ Multiply() [4/8]

void KDL::Multiply ( const JntArrayAcc &  src,
const doubleVel &  factor,
JntArrayAcc &  dest 
)

Definition at line 110 of file jntarrayacc.cpp.

◆ Multiply() [5/8]

void KDL::Multiply ( const JntArrayVel &  src,
const double &  factor,
JntArrayVel &  dest 
)

Definition at line 79 of file jntarrayvel.cpp.

◆ Multiply() [6/8]

void KDL::Multiply ( const JntArrayVel &  src,
const doubleVel &  factor,
JntArrayVel &  dest 
)

Definition at line 84 of file jntarrayvel.cpp.

◆ Multiply() [7/8]

void KDL::Multiply ( const JntSpaceInertiaMatrix &  src,
const double &  factor,
JntSpaceInertiaMatrix &  dest 
)

Definition at line 89 of file jntspaceinertiamatrix.cpp.

◆ Multiply() [8/8]

void KDL::Multiply ( const JntSpaceInertiaMatrix &  src,
const JntArray &  vec,
JntArray &  dest 
)

Definition at line 99 of file jntspaceinertiamatrix.cpp.

◆ MultiplyJacobian()

void KDL::MultiplyJacobian ( const Jacobian &  jac,
const JntArray &  src,
Twist &  dest 
)

Function to multiply a KDL::Jacobian with a KDL::JntArray to get a KDL::Twist, it should not be used to calculate the forward velocity kinematics, the solver classes are built for this purpose. J*q = t

Parameters
jacJ
srcq
destt
Postcondition
dest==Twist::Zero() if 0==src.rows() (ie src is empty)

Definition at line 100 of file jntarray.cpp.

◆ Norm() [1/3]

template<class T , class V , class S >
INLINE S KDL::Norm ( const Rall1d< T, V, S > &  value)

Definition at line 440 of file rall1d.h.

◆ Norm() [2/3]

template<class T , class V , class S >
INLINE S KDL::Norm ( const Rall2d< T, V, S > &  value)

Definition at line 505 of file rall2d.h.

◆ Norm() [3/3]

double KDL::Norm ( double  arg)
inline

Definition at line 256 of file utility.h.

◆ operator!=() [1/2]

template<class T , class V , class S >
INLINE bool KDL::operator!= ( const Rall1d< T, V, S > &  y,
const Rall1d< T, V, S > &  x 
)

Definition at line 507 of file rall1d.h.

◆ operator!=() [2/2]

template<class T , class V , class S >
INLINE bool KDL::operator!= ( const Rall2d< T, V, S > &  y,
const Rall2d< T, V, S > &  x 
)

Definition at line 570 of file rall2d.h.

◆ operator*() [1/17]

Wrench KDL::operator* ( const ArticulatedBodyInertia &  I,
const Twist &  t 
)

calculate spatial momentum: h = I*v make sure that the twist v and the inertia are expressed in the same reference frame/point

Definition at line 68 of file articulatedbodyinertia.cpp.

◆ operator*() [2/17]

ArticulatedBodyInertia KDL::operator* ( const Frame &  T,
const ArticulatedBodyInertia &  I 
)

Coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b.

Definition at line 75 of file articulatedbodyinertia.cpp.

◆ operator*() [3/17]

RigidBodyInertia KDL::operator* ( const Frame &  T,
const RigidBodyInertia &  I 
)

Coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b.

Definition at line 54 of file rigidbodyinertia.cpp.

◆ operator*() [4/17]

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

Definition at line 245 of file rall1d.h.

◆ operator*() [5/17]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator* ( const Rall1d< T, V, S > &  v,
S  s 
)

Definition at line 276 of file rall1d.h.

◆ operator*() [6/17]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator* ( const Rall2d< T, V, S > &  lhs,
const Rall2d< T, V, S > &  rhs 
)

Definition at line 258 of file rall2d.h.

◆ operator*() [7/17]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator* ( const Rall2d< T, V, S > &  v,
S  s 
)

Definition at line 292 of file rall2d.h.

◆ operator*() [8/17]

Wrench KDL::operator* ( const RigidBodyInertia &  I,
const Twist &  t 
)

calculate spatial momentum: h = I*v make sure that the twist v and the inertia are expressed in the same reference frame/point

Definition at line 50 of file rigidbodyinertia.cpp.

◆ operator*() [9/17]

Rotation KDL::operator* ( const Rotation &  lhs,
const Rotation &  rhs 
)

Definition at line 198 of file frames.cpp.

◆ operator*() [10/17]

ArticulatedBodyInertia KDL::operator* ( const Rotation &  R,
const ArticulatedBodyInertia &  I 
)

Reference frame orientation change Ia = R_a_b*Ib with R_a_b the rotation of b expressed in a

Definition at line 90 of file articulatedbodyinertia.cpp.

◆ operator*() [11/17]

RigidBodyInertia KDL::operator* ( const Rotation &  R,
const RigidBodyInertia &  I 
)

Reference frame orientation change Ia = R_a_b*Ib with R_a_b the rotation of b expressed in a

Definition at line 72 of file rigidbodyinertia.cpp.

◆ operator*() [12/17]

Wrench KDL::operator* ( const Stiffness &  s,
const Twist &  t 
)
inline

Definition at line 81 of file stiffness.hpp.

◆ operator*() [13/17]

ArticulatedBodyInertia KDL::operator* ( double  a,
const ArticulatedBodyInertia &  I 
)

Scalar product: I_new = double * I_old

Definition at line 49 of file articulatedbodyinertia.cpp.

◆ operator*() [14/17]

RigidBodyInertia KDL::operator* ( double  a,
const RigidBodyInertia &  I 
)

Scalar product: I_new = double * I_old

Definition at line 42 of file rigidbodyinertia.cpp.

◆ operator*() [15/17]

RotationalInertia KDL::operator* ( double  a,
const RotationalInertia &  I 
)

Definition at line 50 of file rotationalinertia.cpp.

◆ operator*() [16/17]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator* ( S  s,
const Rall1d< T, V, S > &  v 
)

Definition at line 270 of file rall1d.h.

◆ operator*() [17/17]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator* ( S  s,
const Rall2d< T, V, S > &  v 
)

Definition at line 286 of file rall2d.h.

◆ operator+() [1/12]

ArticulatedBodyInertia KDL::operator+ ( const ArticulatedBodyInertia &  Ia,
const ArticulatedBodyInertia &  Ib 
)

addition I: I_new = I_old1 + I_old2, make sure that I_old1 and I_old2 are expressed in the same reference frame/point, otherwise the result is worth nothing

Definition at line 53 of file articulatedbodyinertia.cpp.

◆ operator+() [2/12]

ArticulatedBodyInertia KDL::operator+ ( const ArticulatedBodyInertia &  Ia,
const RigidBodyInertia &  Ib 
)

◆ operator+() [3/12]

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

Definition at line 251 of file rall1d.h.

◆ operator+() [4/12]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator+ ( const Rall1d< T, V, S > &  v,
S  s 
)

Definition at line 288 of file rall1d.h.

◆ operator+() [5/12]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator+ ( const Rall2d< T, V, S > &  lhs,
const Rall2d< T, V, S > &  rhs 
)

Definition at line 268 of file rall2d.h.

◆ operator+() [6/12]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator+ ( const Rall2d< T, V, S > &  v,
S  s 
)

Definition at line 304 of file rall2d.h.

◆ operator+() [7/12]

ArticulatedBodyInertia KDL::operator+ ( const RigidBodyInertia &  Ia,
const ArticulatedBodyInertia &  Ib 
)

Definition at line 57 of file articulatedbodyinertia.cpp.

◆ operator+() [8/12]

RigidBodyInertia KDL::operator+ ( const RigidBodyInertia &  Ia,
const RigidBodyInertia &  Ib 
)

addition I: I_new = I_old1 + I_old2, make sure that I_old1 and I_old2 are expressed in the same reference frame/point, otherwise the result is worth nothing

Definition at line 46 of file rigidbodyinertia.cpp.

◆ operator+() [9/12]

RotationalInertia KDL::operator+ ( const RotationalInertia &  Ia,
const RotationalInertia &  Ib 
)

Definition at line 56 of file rotationalinertia.cpp.

◆ operator+() [10/12]

Stiffness KDL::operator+ ( const Stiffness &  s1,
const Stiffness &  s2 
)
inline

Definition at line 92 of file stiffness.hpp.

◆ operator+() [11/12]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator+ ( S  s,
const Rall1d< T, V, S > &  v 
)

Definition at line 282 of file rall1d.h.

◆ operator+() [12/12]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator+ ( S  s,
const Rall2d< T, V, S > &  v 
)

Definition at line 298 of file rall2d.h.

◆ operator-() [1/11]

ArticulatedBodyInertia KDL::operator- ( const ArticulatedBodyInertia &  Ia,
const ArticulatedBodyInertia &  Ib 
)

Definition at line 60 of file articulatedbodyinertia.cpp.

◆ operator-() [2/11]

ArticulatedBodyInertia KDL::operator- ( const ArticulatedBodyInertia &  Ia,
const RigidBodyInertia &  Ib 
)

◆ operator-() [3/11]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator- ( const Rall1d< T, V, S > &  arg)

Definition at line 264 of file rall1d.h.

◆ operator-() [4/11]

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

Definition at line 258 of file rall1d.h.

◆ operator-() [5/11]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator- ( const Rall1d< T, V, S > &  v,
S  s 
)

Definition at line 300 of file rall1d.h.

◆ operator-() [6/11]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator- ( const Rall2d< T, V, S > &  arg)

Definition at line 280 of file rall2d.h.

◆ operator-() [7/11]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator- ( const Rall2d< T, V, S > &  lhs,
const Rall2d< T, V, S > &  rhs 
)

Definition at line 274 of file rall2d.h.

◆ operator-() [8/11]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator- ( const Rall2d< T, V, S > &  v,
S  s 
)

Definition at line 316 of file rall2d.h.

◆ operator-() [9/11]

ArticulatedBodyInertia KDL::operator- ( const RigidBodyInertia &  Ia,
const ArticulatedBodyInertia &  Ib 
)

Definition at line 64 of file articulatedbodyinertia.cpp.

◆ operator-() [10/11]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator- ( S  s,
const Rall1d< T, V, S > &  v 
)

Definition at line 294 of file rall1d.h.

◆ operator-() [11/11]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator- ( S  s,
const Rall2d< T, V, S > &  v 
)

Definition at line 310 of file rall2d.h.

◆ operator/() [1/6]

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

Definition at line 239 of file rall1d.h.

◆ operator/() [2/6]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator/ ( const Rall1d< T, V, S > &  v,
S  s 
)

Definition at line 312 of file rall1d.h.

◆ operator/() [3/6]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator/ ( const Rall2d< T, V, S > &  lhs,
const Rall2d< T, V, S > &  rhs 
)

Definition at line 248 of file rall2d.h.

◆ operator/() [4/6]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator/ ( const Rall2d< T, V, S > &  v,
S  s 
)

Definition at line 333 of file rall2d.h.

◆ operator/() [5/6]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator/ ( S  s,
const Rall1d< T, V, S > &  v 
)

Definition at line 306 of file rall1d.h.

◆ operator/() [6/6]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator/ ( S  s,
const Rall2d< T, V, S > &  rhs 
)

Definition at line 322 of file rall2d.h.

◆ operator<<() [1/26]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Chain &  chain 
)

Definition at line 45 of file kinfam_io.cpp.

◆ operator<<() [2/26]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Frame &  T 
)

Definition at line 130 of file frames_io.cpp.

◆ operator<<() [3/26]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Frame2 &  T 
)

Definition at line 148 of file frames_io.cpp.

◆ operator<<() [4/26]

std::ostream& KDL::operator<< ( std::ostream &  os,
const FrameAcc &  r 
)
inline

Definition at line 61 of file frameacc_io.hpp.

◆ operator<<() [5/26]

std::ostream& KDL::operator<< ( std::ostream &  os,
const FrameVel &  r 
)
inline

Definition at line 56 of file framevel_io.hpp.

◆ operator<<() [6/26]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Jacobian &  jac 
)

Definition at line 87 of file kinfam_io.cpp.

◆ operator<<() [7/26]

std::ostream & KDL::operator<< ( std::ostream &  os,
const JntArray &  array 
)

Definition at line 75 of file kinfam_io.cpp.

◆ operator<<() [8/26]

std::ostream & KDL::operator<< ( std::ostream &  os,
const JntSpaceInertiaMatrix &  jntspaceinertiamatrix 
)

Definition at line 101 of file kinfam_io.cpp.

◆ operator<<() [9/26]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Joint &  joint 
)

Definition at line 27 of file kinfam_io.cpp.

◆ operator<<() [10/26]

template<class T , class V , class S >
std::ostream& KDL::operator<< ( std::ostream &  os,
const Rall1d< T, V, S > &  r 
)
inline

Definition at line 44 of file rall1d_io.h.

◆ operator<<() [11/26]

template<class T , class V , class S >
std::ostream& KDL::operator<< ( std::ostream &  os,
const Rall2d< T, V, S > &  r 
)

Definition at line 45 of file rall2d_io.h.

◆ operator<<() [12/26]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Rotation &  R 
)

Definition at line 96 of file frames_io.cpp.

◆ operator<<() [13/26]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Rotation2 &  R 
)

Definition at line 143 of file frames_io.cpp.

◆ operator<<() [14/26]

std::ostream& KDL::operator<< ( std::ostream &  os,
const RotationAcc &  r 
)
inline

Definition at line 54 of file frameacc_io.hpp.

◆ operator<<() [15/26]

std::ostream& KDL::operator<< ( std::ostream &  os,
const RotationVel &  r 
)
inline

Definition at line 50 of file framevel_io.hpp.

◆ operator<<() [16/26]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Segment &  segment 
)

Definition at line 36 of file kinfam_io.cpp.

◆ operator<<() [17/26]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Tree &  tree 
)

Definition at line 57 of file kinfam_io.cpp.

◆ operator<<() [18/26]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Twist &  v 
)

Definition at line 73 of file frames_io.cpp.

◆ operator<<() [19/26]

std::ostream& KDL::operator<< ( std::ostream &  os,
const TwistAcc &  r 
)
inline

Definition at line 65 of file frameacc_io.hpp.

◆ operator<<() [20/26]

std::ostream& KDL::operator<< ( std::ostream &  os,
const TwistVel &  r 
)
inline

Definition at line 61 of file framevel_io.hpp.

◆ operator<<() [21/26]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Vector &  v 
)

width to be used when printing variables out with frames_io.h global variable, can be changed.

Definition at line 67 of file frames_io.cpp.

◆ operator<<() [22/26]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Vector2 &  v 
)

Definition at line 136 of file frames_io.cpp.

◆ operator<<() [23/26]

std::ostream& KDL::operator<< ( std::ostream &  os,
const VectorAcc &  r 
)
inline

Definition at line 49 of file frameacc_io.hpp.

◆ operator<<() [24/26]

std::ostream& KDL::operator<< ( std::ostream &  os,
const VectorVel &  r 
)
inline

Definition at line 45 of file framevel_io.hpp.

◆ operator<<() [25/26]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Wrench &  v 
)

Definition at line 84 of file frames_io.cpp.

◆ operator<<() [26/26]

std::ostream & KDL::operator<< ( std::ostream &  os,
SegmentMap::const_iterator  root 
)

Definition at line 62 of file kinfam_io.cpp.

◆ operator==() [1/5]

bool KDL::operator== ( const JntArray &  src1,
const JntArray &  src2 
)

Definition at line 118 of file jntarray.cpp.

◆ operator==() [2/5]

bool KDL::operator== ( const JntSpaceInertiaMatrix &  src1,
const JntSpaceInertiaMatrix &  src2 
)

Definition at line 116 of file jntspaceinertiamatrix.cpp.

◆ operator==() [3/5]

template<class T , class V , class S >
INLINE bool KDL::operator== ( const Rall1d< T, V, S > &  y,
const Rall1d< T, V, S > &  x 
)

Definition at line 497 of file rall1d.h.

◆ operator==() [4/5]

template<class T , class V , class S >
INLINE bool KDL::operator== ( const Rall2d< T, V, S > &  y,
const Rall2d< T, V, S > &  x 
)

Definition at line 557 of file rall2d.h.

◆ operator==() [5/5]

bool KDL::operator== ( const Rotation &  a,
const Rotation &  b 
)

Definition at line 455 of file frames.cpp.

◆ operator>>() [1/15]

std::istream & KDL::operator>> ( std::istream &  is,
Chain &  chain 
)

Definition at line 53 of file kinfam_io.cpp.

◆ operator>>() [2/15]

std::istream & KDL::operator>> ( std::istream &  is,
Frame &  T 
)

Definition at line 276 of file frames_io.cpp.

◆ operator>>() [3/15]

std::istream & KDL::operator>> ( std::istream &  is,
Frame2 &  T 
)

Definition at line 327 of file frames_io.cpp.

◆ operator>>() [4/15]

std::istream & KDL::operator>> ( std::istream &  is,
Jacobian &  jac 
)

Definition at line 98 of file kinfam_io.cpp.

◆ operator>>() [5/15]

std::istream & KDL::operator>> ( std::istream &  is,
JntArray &  array 
)

Definition at line 83 of file kinfam_io.cpp.

◆ operator>>() [6/15]

std::istream & KDL::operator>> ( std::istream &  is,
JntSpaceInertiaMatrix &  jntspaceinertiamatrix 
)

Definition at line 112 of file kinfam_io.cpp.

◆ operator>>() [7/15]

std::istream & KDL::operator>> ( std::istream &  is,
Joint &  joint 
)

Definition at line 32 of file kinfam_io.cpp.

◆ operator>>() [8/15]

std::istream & KDL::operator>> ( std::istream &  is,
Rotation &  r 
)

Definition at line 215 of file frames_io.cpp.

◆ operator>>() [9/15]

std::istream & KDL::operator>> ( std::istream &  is,
Rotation2 &  r 
)

Definition at line 317 of file frames_io.cpp.

◆ operator>>() [10/15]

std::istream & KDL::operator>> ( std::istream &  is,
Segment &  segment 
)

Definition at line 41 of file kinfam_io.cpp.

◆ operator>>() [11/15]

std::istream & KDL::operator>> ( std::istream &  is,
Tree &  tree 
)

Definition at line 71 of file kinfam_io.cpp.

◆ operator>>() [12/15]

std::istream & KDL::operator>> ( std::istream &  is,
Twist &  v 
)

Definition at line 177 of file frames_io.cpp.

◆ operator>>() [13/15]

std::istream & KDL::operator>> ( std::istream &  is,
Vector &  v 
)

Definition at line 154 of file frames_io.cpp.

◆ operator>>() [14/15]

std::istream & KDL::operator>> ( std::istream &  is,
Vector2 &  v 
)

Definition at line 307 of file frames_io.cpp.

◆ operator>>() [15/15]

std::istream & KDL::operator>> ( std::istream &  is,
Wrench &  v 
)

Definition at line 196 of file frames_io.cpp.

◆ posrandom() [1/8]

void KDL::posrandom ( double &  a)
inline

Definition at line 278 of file utility.h.

◆ posrandom() [2/8]

IMETHOD void KDL::posrandom ( doubleVel &  F)

Definition at line 69 of file framevel.hpp.

◆ posrandom() [3/8]

IMETHOD void KDL::posrandom ( FrameVel &  F)

Definition at line 404 of file framevel.hpp.

◆ posrandom() [4/8]

template<typename T >
void KDL::posrandom ( Jacobian< T > &  rv)

Definition at line 25 of file jacobiantests.hpp.

◆ posrandom() [5/8]

IMETHOD void KDL::posrandom ( RotationVel &  R)

Definition at line 399 of file framevel.hpp.

◆ posrandom() [6/8]

void KDL::posrandom ( Stiffness &  F)
inline

Definition at line 102 of file stiffness.hpp.

◆ posrandom() [7/8]

IMETHOD void KDL::posrandom ( TwistVel &  a)

Definition at line 394 of file framevel.hpp.

◆ posrandom() [8/8]

IMETHOD void KDL::posrandom ( VectorVel &  a)

Definition at line 390 of file framevel.hpp.

◆ pow() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::pow ( const Rall1d< T, V, S > &  arg,
double  m 
)

Definition at line 383 of file rall1d.h.

◆ pow() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::pow ( const Rall2d< T, V, S > &  arg,
double  m 
)

Definition at line 417 of file rall2d.h.

◆ pow() [3/3]

double KDL::pow ( double  a,
double  b 
)
inline

Definition at line 122 of file utility.h.

◆ Puma560()

Chain KDL::Puma560 ( )

Definition at line 27 of file puma560.cpp.

◆ PYTHAG()

double KDL::PYTHAG ( double  a,
double  b 
)
inline

Definition at line 33 of file svd_eigen_HH.hpp.

◆ random() [1/8]

void KDL::random ( double &  a)
inline

Definition at line 274 of file utility.h.

◆ random() [2/8]

IMETHOD void KDL::random ( doubleVel &  F)

Definition at line 65 of file framevel.hpp.

◆ random() [3/8]

IMETHOD void KDL::random ( FrameVel &  F)

Definition at line 386 of file framevel.hpp.

◆ random() [4/8]

template<typename T >
void KDL::random ( Jacobian< T > &  rv)

Definition at line 16 of file jacobiantests.hpp.

◆ random() [5/8]

IMETHOD void KDL::random ( RotationVel &  R)

Definition at line 381 of file framevel.hpp.

◆ random() [6/8]

void KDL::random ( Stiffness &  F)
inline

Definition at line 111 of file stiffness.hpp.

◆ random() [7/8]

IMETHOD void KDL::random ( TwistVel &  a)

Definition at line 376 of file framevel.hpp.

◆ random() [8/8]

IMETHOD void KDL::random ( VectorVel &  a)

Definition at line 372 of file framevel.hpp.

◆ SetToIdentity() [1/3]

void KDL::SetToIdentity ( double &  arg)
inline

to uniformly set double, RNDouble,Vector,... objects to the identity element in template-classes

Definition at line 247 of file utility.h.

◆ SetToIdentity() [2/3]

template<class T , class V , class S >
INLINE void KDL::SetToIdentity ( Rall1d< T, V, S > &  value)

Definition at line 484 of file rall1d.h.

◆ SetToIdentity() [3/3]

template<class T , class V , class S >
INLINE void KDL::SetToIdentity ( Rall2d< T, V, S > &  value)

Definition at line 540 of file rall2d.h.

◆ SetToZero() [1/8]

void KDL::SetToZero ( double &  arg)
inline

to uniformly set double, RNDouble,Vector,... objects to zero in template-classes

Definition at line 242 of file utility.h.

◆ SetToZero() [2/8]

void KDL::SetToZero ( Jacobian &  jac)

Definition at line 79 of file jacobian.cpp.

◆ SetToZero() [3/8]

void KDL::SetToZero ( JntArray &  array)

Function to set all the values of the array to 0

Parameters
array

Definition at line 106 of file jntarray.cpp.

◆ SetToZero() [4/8]

void KDL::SetToZero ( JntArrayAcc &  array)

Definition at line 164 of file jntarrayacc.cpp.

◆ SetToZero() [5/8]

void KDL::SetToZero ( JntArrayVel &  array)

Definition at line 105 of file jntarrayvel.cpp.

◆ SetToZero() [6/8]

void KDL::SetToZero ( JntSpaceInertiaMatrix &  mat)

Definition at line 104 of file jntspaceinertiamatrix.cpp.

◆ SetToZero() [7/8]

template<class T , class V , class S >
INLINE void KDL::SetToZero ( Rall1d< T, V, S > &  value)

Definition at line 478 of file rall1d.h.

◆ SetToZero() [8/8]

template<class T , class V , class S >
INLINE void KDL::SetToZero ( Rall2d< T, V, S > &  value)

Definition at line 532 of file rall2d.h.

◆ SIGN()

double KDL::SIGN ( double  a,
double  b 
)
inline

Definition at line 51 of file svd_eigen_HH.hpp.

◆ sign()

double KDL::sign ( double  arg)
inline

Definition at line 251 of file utility.h.

◆ sin() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::sin ( const Rall1d< T, V, S > &  arg)

Definition at line 335 of file rall1d.h.

◆ sin() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::sin ( const Rall2d< T, V, S > &  arg)

Definition at line 360 of file rall2d.h.

◆ sin() [3/3]

double KDL::sin ( double  a)
inline

Definition at line 85 of file utility.h.

◆ sinh() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::sinh ( const Rall1d< T, V, S > &  arg)

Definition at line 359 of file rall1d.h.

◆ sinh() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::sinh ( const Rall2d< T, V, S > &  arg)

Definition at line 384 of file rall2d.h.

◆ sinh() [3/3]

double KDL::sinh ( double  a)
inline

Definition at line 104 of file utility.h.

◆ sqr() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::sqr ( const Rall1d< T, V, S > &  arg)

Definition at line 375 of file rall1d.h.

◆ sqr() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::sqr ( const Rall2d< T, V, S > &  arg)

Definition at line 408 of file rall2d.h.

◆ sqr() [3/3]

double KDL::sqr ( double  arg)
inline

Definition at line 255 of file utility.h.

◆ sqrt() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::sqrt ( const Rall1d< T, V, S > &  arg)

Definition at line 391 of file rall1d.h.

◆ sqrt() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::sqrt ( const Rall2d< T, V, S > &  arg)

Definition at line 428 of file rall2d.h.

◆ sqrt() [3/3]

double KDL::sqrt ( double  a)
inline

Definition at line 107 of file utility.h.

◆ Subtract() [1/7]

void KDL::Subtract ( const JntArray &  src1,
const JntArray &  src2,
JntArray &  dest 
)

Function to subtract two joint arrays, all the arguments must have the same size: A - B = C. This function is aliasing-safe, A or B can be the same array as C.

Parameters
src1A
src2B
destC

Definition at line 85 of file jntarray.cpp.

◆ Subtract() [2/7]

void KDL::Subtract ( const JntArrayAcc &  src1,
const JntArray &  src2,
JntArrayAcc &  dest 
)

Definition at line 97 of file jntarrayacc.cpp.

◆ Subtract() [3/7]

void KDL::Subtract ( const JntArrayAcc &  src1,
const JntArrayAcc &  src2,
JntArrayAcc &  dest 
)

Definition at line 85 of file jntarrayacc.cpp.

◆ Subtract() [4/7]

void KDL::Subtract ( const JntArrayAcc &  src1,
const JntArrayVel &  src2,
JntArrayAcc &  dest 
)

Definition at line 91 of file jntarrayacc.cpp.

◆ Subtract() [5/7]

void KDL::Subtract ( const JntArrayVel &  src1,
const JntArray &  src2,
JntArrayVel &  dest 
)

Definition at line 73 of file jntarrayvel.cpp.

◆ Subtract() [6/7]

void KDL::Subtract ( const JntArrayVel &  src1,
const JntArrayVel &  src2,
JntArrayVel &  dest 
)

Definition at line 68 of file jntarrayvel.cpp.

◆ Subtract() [7/7]

void KDL::Subtract ( const JntSpaceInertiaMatrix &  src1,
const JntSpaceInertiaMatrix &  src2,
JntSpaceInertiaMatrix &  dest 
)

Definition at line 84 of file jntspaceinertiamatrix.cpp.

◆ svd_eigen_HH()

int KDL::svd_eigen_HH ( const Eigen::MatrixXd &  A,
Eigen::MatrixXd &  U,
Eigen::VectorXd &  S,
Eigen::MatrixXd &  V,
Eigen::VectorXd &  tmp,
int  maxiter = 150,
double  epsilon = 1e-300 
)

svd calculation of eigen matrices

Parameters
Amatrix<double>(mxn)
Umatrix<double>(mxn)
Svector<double> n
Vmatrix<double>(nxn)
tmpvector<double> n
maxiterdefaults to 150
Returns
-2 if maxiter exceeded, 0 otherwise

Definition at line 26 of file svd_eigen_HH.cpp.

◆ svd_eigen_Macie()

int KDL::svd_eigen_Macie ( const Eigen::MatrixXd &  A,
Eigen::MatrixXd &  U,
Eigen::VectorXd &  S,
Eigen::MatrixXd &  V,
Eigen::MatrixXd &  B,
Eigen::VectorXd &  tempi,
double  threshold,
bool  toggle 
)

svd_eigen_Macie provides Maciejewski implementation for SVD.

computes the singular value decomposition of a matrix A, such that A=U*Sm*V

(Maciejewski and Klein,1989) and (Braun, Ulrey, Maciejewski and Siegel,2002)

Parameters
A[INPUT] is an \(m \times n\)-matrix, where \( m \geq n \).
S[OUTPUT] is an \(n\)-vector, representing the diagonal elements of the diagonal matrix Sm.
U[INPUT/OUTPUT] is an \(m \times m\) orthonormal matrix.
V[INPUT/OUTPUT] is an \(n \times n\) orthonormal matrix.
B[TEMPORARY] is an \(m \times n\) matrix used for temporary storage.
tempi[TEMPORARY] is an \(m\) vector used for temporary storage.
threshold[INPUT] Threshold to determine orthogonality.
toggle[INPUT] toggle this boolean variable on each call of this routine.
Returns
number of sweeps.

Definition at line 25 of file svd_eigen_Macie.cpp.

◆ swap()

template<typename T >
void KDL::swap ( scoped_ptr< T > &  a,
scoped_ptr< T > &  b 
)

Definition at line 94 of file scoped_ptr.hpp.

◆ tan() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::tan ( const Rall1d< T, V, S > &  arg)

Definition at line 351 of file rall1d.h.

◆ tan() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::tan ( const Rall2d< T, V, S > &  arg)

Definition at line 376 of file rall2d.h.

◆ tan() [3/3]

double KDL::tan ( double  a)
inline

Definition at line 98 of file utility.h.

◆ tanh() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::tanh ( const Rall1d< T, V, S > &  arg)

Definition at line 446 of file rall1d.h.

◆ tanh() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::tanh ( const Rall2d< T, V, S > &  arg)

Definition at line 400 of file rall2d.h.

◆ tanh() [3/3]

double KDL::tanh ( double  a)
inline

Definition at line 119 of file utility.h.

◆ tree2str() [1/2]

std::string KDL::tree2str ( const SegmentMap::const_iterator  it,
const std::string &  separator,
const std::string &  preamble,
unsigned int  level 
)

Definition at line 117 of file kinfam_io.cpp.

◆ tree2str() [2/2]

std::string KDL::tree2str ( const Tree &  tree,
const std::string &  separator,
const std::string &  preamble 
)

Definition at line 128 of file kinfam_io.cpp.

◆ Twist_to_Eigen()

template<typename Derived >
void KDL::Twist_to_Eigen ( const KDL::Twist &  t,
Eigen::MatrixBase< Derived > &  e 
)
inline

Definition at line 63 of file chainiksolverpos_lma.cpp.

◆ Upper()

char KDL::Upper ( char  ch)
inline

Definition at line 156 of file utility_io.cxx.

Variable Documentation

◆ deg2rad

const double KDL::deg2rad = 0.017453292519943295769236907684886127

the value pi/180

Definition at line 19 of file utility.cxx.

◆ epsilon

double KDL::epsilon = 1e-6

default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001.

Definition at line 21 of file utility.cxx.

◆ errorstack

ErrorStack KDL::errorstack
static

Definition at line 43 of file error_stack.cxx.

◆ L0

const double KDL::L0 = 1.0
static

Definition at line 12 of file jacobiandottest.cpp.

◆ L1

const double KDL::L1 = 0.5
static

Definition at line 13 of file jacobiandottest.cpp.

◆ L2

const double KDL::L2 = 0.4
static

Definition at line 14 of file jacobiandottest.cpp.

◆ L3

const double KDL::L3 = 0
static

Definition at line 15 of file jacobiandottest.cpp.

◆ L4

const double KDL::L4 = 0
static

Definition at line 16 of file jacobiandottest.cpp.

◆ L5

const double KDL::L5 = 0
static

Definition at line 17 of file jacobiandottest.cpp.

◆ MAXLENFILENAME

int KDL::MAXLENFILENAME = 255

maximal length of a file name

Definition at line 15 of file utility.cxx.

◆ mhi

const static bool KDL::mhi =true
static

Definition at line 28 of file rigidbodyinertia.cpp.

◆ PI

const double KDL::PI = 3.141592653589793238462643383279502884

the value of pi

Definition at line 16 of file utility.cxx.

◆ PI_2

const double KDL::PI_2 = 1.570796326794896619231321691639751442

the value of pi/2

Definition at line 17 of file utility.cxx.

◆ PI_4

const double KDL::PI_4 = 0.785398163397448309615660845819875721

the value of pi/4

Definition at line 18 of file utility.cxx.

◆ rad2deg

const double KDL::rad2deg = 57.29577951308232087679815481410517033

the value 180/pi

Definition at line 20 of file utility.cxx.

◆ STREAMBUFFERSIZE

int KDL::STREAMBUFFERSIZE = 10000

/note linkage Something fishy about the difference between C++ and C in C++ const values default to INTERNAL linkage, in C they default to EXTERNAL linkage. Here the constants should have EXTERNAL linkage because they, for at least some of them, can be changed by the user. If you want to explicitly declare internal linkage, use "static".

Definition at line 14 of file utility.cxx.

◆ VSIZE

int KDL::VSIZE

the number of derivatives used in the RN-... objects.

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