orocos_kdl
src
utilities
rallNd.h
Go to the documentation of this file.
1
#ifndef RALLND_H
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#define RALLND_H
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#include "
rall1d.h
"
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#include "
rall1d_io.h
"
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#include "
rall2d.h
"
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#include "
rall2d_io.h
"
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// N>2:
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template
<
int
N>
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class
RallNd
:
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public
Rall2d
< RallNd<N-2>, RallNd<N-2>, double >
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{
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public
:
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RallNd
() {}
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RallNd
(
const
Rall2d
<
RallNd<N-2>
,
RallNd<N-2>
,
double
>& arg) :
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Rall2d
<
RallNd
<N-2>,
RallNd
<N-2>,double>(arg) {}
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RallNd
(
double
value,
double
d
[]) {
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this->
t
=
RallNd
<N-2>(value,
d
);
// 0 1 2
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this->d =
RallNd
<N-2>(
d
[0],&
d
[1]);
// 1 2 3 iseigenlijk niet nodig
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this->
dd
=
RallNd
<N-2>(
d
[1],&
d
[2]);
// 2 3 4
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}
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};
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template
<>
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class
RallNd
<2> :
public
Rall2d
<double> {
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public
:
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RallNd
() {}* (dwz. met evenveel numerieke operaties als een
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RallNd
(
const
Rall2d<double>& arg) :
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Rall2d
<double>(arg) {}
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RallNd
(
double
value,
double
d
[]) {
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t
= value;
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d
=
d
[0];
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dd
=
d
[1];
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}
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};
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template
<>
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class
RallNd
<1> :
public
Rall1d<double> {
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public
:
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RallNd
() {}
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RallNd
(
const
Rall1d<double>& arg) :
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Rall1d<double>(arg) {}
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RallNd
(
double
value,
double
d
[]) {
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t
= value;
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grad =
d
[0];
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}
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};
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#endif
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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
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