orocos_kdl
rallNd.h
Go to the documentation of this file.
1 #ifndef RALLND_H
2 #define RALLND_H
3 
4 #include "rall1d.h"
5 #include "rall1d_io.h"
6 #include "rall2d.h"
7 #include "rall2d_io.h"
59 // N>2:
60 template <int N>
61 class RallNd :
62  public Rall2d< RallNd<N-2>, RallNd<N-2>, double >
63 {
64 public:
65  RallNd() {}
66  RallNd(const Rall2d< RallNd<N-2>, RallNd<N-2>,double>& arg) :
67  Rall2d< RallNd<N-2>, RallNd<N-2>,double>(arg) {}
68  RallNd(double value,double d[]) {
69  this->t = RallNd<N-2>(value,d); // 0 1 2
70  this->d = RallNd<N-2>(d[0],&d[1]); // 1 2 3 iseigenlijk niet nodig
71  this->dd = RallNd<N-2>(d[1],&d[2]); // 2 3 4
72  }
73 };
74 
75 template <>
76 class RallNd<2> : public Rall2d<double> {
77 public:
78  RallNd() {}* (dwz. met evenveel numerieke operaties als een
79  RallNd(const Rall2d<double>& arg) :
80  Rall2d<double>(arg) {}
81  RallNd(double value,double d[]) {
82  t = value;
83  d = d[0];
84  dd= d[1];
85  }
86 };
87 
88 template <>
89 class RallNd<1> : public Rall1d<double> {
90 public:
91  RallNd() {}
92  RallNd(const Rall1d<double>& arg) :
93  Rall1d<double>(arg) {}
94  RallNd(double value,double d[]) {
95  t = value;
96  grad = d[0];
97  }
98 };
99 
100 #endif
101 
RallNd
Definition: rallNd.h:61
KDL::Rall2d< RallNd< N-2 >, RallNd< N-2 >, double >::dd
RallNd< N-2 > dd
2nd derivative
Definition: rall2d.h:103
RallNd< 1 >::RallNd
RallNd()
Definition: rallNd.h:91
rall1d.h
RallNd< 1 >::RallNd
RallNd(double value, double d[])
Definition: rallNd.h:94
rall1d_io.h
rall2d_io.h
RallNd::RallNd
RallNd(const Rall2d< RallNd< N-2 >, RallNd< N-2 >, double > &arg)
Definition: rallNd.h:66
RallNd::RallNd
RallNd()
Definition: rallNd.h:65
RallNd< 1 >::RallNd
RallNd(const Rall1d< double > &arg)
Definition: rallNd.h:92
RallNd< 2 >::RallNd
RallNd()
Definition: rallNd.h:78
KDL::Rall2d< RallNd< N-2 >, RallNd< N-2 >, double >::Rall2d
INLINE Rall2d()
Definition: rall2d.h:106
KDL::Rall2d< RallNd< N-2 >, RallNd< N-2 >, double >::t
RallNd< N-2 > t
value
Definition: rall2d.h:101
KDL::Rall2d< RallNd< N-2 >, RallNd< N-2 >, double >::d
RallNd< N-2 > d
1st derivative
Definition: rall2d.h:102
RallNd< 2 >::RallNd
*dwz met evenveel numerieke operaties als een RallNd(const Rall2d< double > &arg)
Definition: rallNd.h:79
RallNd::RallNd
RallNd(double value, double d[])
Definition: rallNd.h:68
RallNd< 2 >::RallNd
RallNd(double value, double d[])
Definition: rallNd.h:81
rall2d.h