orocos_kdl
src
utilities
traits.h
Go to the documentation of this file.
1
#ifndef KDLPV_TRAITS_H
2
#define KDLPV_TRAITS_H
3
4
#include "
utility.h
"
5
6
7
// forwards declarations :
8
namespace
KDL
{
9
class
Frame;
10
class
Rotation;
11
class
Vector;
12
class
Twist;
13
class
Wrench;
14
class
FrameVel;
15
class
RotationVel;
16
class
VectorVel;
17
class
TwistVel;
18
}
19
20
37
template
<
typename
T>
38
struct
Traits
{
39
typedef
T
valueType
;
40
typedef
T
derivType
;
41
};
42
43
template
<>
44
struct
Traits
<
KDL
::Frame> {
45
typedef
KDL::Frame
valueType
;
46
typedef
KDL::Twist
derivType
;
47
};
48
template
<>
49
struct
Traits
<
KDL
::Twist> {
50
typedef
KDL::Twist
valueType
;
51
typedef
KDL::Twist
derivType
;
52
};
53
template
<>
54
struct
Traits
<
KDL
::Wrench> {
55
typedef
KDL::Wrench
valueType
;
56
typedef
KDL::Wrench
derivType
;
57
};
58
59
template
<>
60
struct
Traits
<
KDL
::Rotation> {
61
typedef
KDL::Rotation
valueType
;
62
typedef
KDL::Vector
derivType
;
63
};
64
65
template
<>
66
struct
Traits
<
KDL
::Vector> {
67
typedef
KDL::Vector
valueType
;
68
typedef
KDL::Vector
derivType
;
69
};
70
71
template
<>
72
struct
Traits
<double> {
73
typedef
double
valueType
;
74
typedef
double
derivType
;
75
};
76
77
template
<>
78
struct
Traits
<float> {
79
typedef
float
valueType
;
80
typedef
float
derivType
;
81
};
82
83
template
<>
84
struct
Traits
<
KDL
::FrameVel> {
85
typedef
KDL::Frame
valueType
;
86
typedef
KDL::TwistVel
derivType
;
87
};
88
template
<>
89
struct
Traits
<
KDL
::TwistVel> {
90
typedef
KDL::Twist
valueType
;
91
typedef
KDL::TwistVel
derivType
;
92
};
93
94
template
<>
95
struct
Traits
<
KDL
::RotationVel> {
96
typedef
KDL::Rotation
valueType
;
97
typedef
KDL::VectorVel
derivType
;
98
};
99
100
template
<>
101
struct
Traits
<
KDL
::VectorVel> {
102
typedef
KDL::Vector
valueType
;
103
typedef
KDL::VectorVel
derivType
;
104
};
105
106
107
108
#endif
109
110
111
Traits::valueType
T valueType
Definition:
traits.h:39
Traits::derivType
T derivType
Definition:
traits.h:40
Traits< KDL::VectorVel >::derivType
KDL::VectorVel derivType
Definition:
traits.h:103
Traits< KDL::Wrench >::derivType
KDL::Wrench derivType
Definition:
traits.h:56
Traits< double >::valueType
double valueType
Definition:
traits.h:73
Traits< KDL::FrameVel >::valueType
KDL::Frame valueType
Definition:
traits.h:85
Traits< KDL::RotationVel >::valueType
KDL::Rotation valueType
Definition:
traits.h:96
KDL::TwistVel
Definition:
framevel.hpp:269
Traits< KDL::Vector >::valueType
KDL::Vector valueType
Definition:
traits.h:67
Traits< KDL::Vector >::derivType
KDL::Vector derivType
Definition:
traits.h:68
Traits< KDL::Frame >::valueType
KDL::Frame valueType
Definition:
traits.h:45
utility.h
Traits< KDL::Twist >::derivType
KDL::Twist derivType
Definition:
traits.h:51
Traits< KDL::RotationVel >::derivType
KDL::VectorVel derivType
Definition:
traits.h:97
KDL
Definition:
kukaLWR_DHnew.cpp:25
Traits< KDL::TwistVel >::derivType
KDL::TwistVel derivType
Definition:
traits.h:91
KDL::Vector
A concrete implementation of a 3 dimensional vector class.
Definition:
frames.hpp:162
KDL::Twist
represents both translational and rotational velocities.
Definition:
frames.hpp:723
KDL::Wrench
represents both translational and rotational acceleration.
Definition:
frames.hpp:881
Traits< KDL::Frame >::derivType
KDL::Twist derivType
Definition:
traits.h:46
KDL::Frame
represents a frame transformation in 3D space (rotation + translation)
Definition:
frames.hpp:572
Traits< double >::derivType
double derivType
Definition:
traits.h:74
Traits< KDL::Rotation >::valueType
KDL::Rotation valueType
Definition:
traits.h:61
Traits< KDL::FrameVel >::derivType
KDL::TwistVel derivType
Definition:
traits.h:86
Traits< KDL::Twist >::valueType
KDL::Twist valueType
Definition:
traits.h:50
KDL::VectorVel
Definition:
framevel.hpp:84
Traits< float >::derivType
float derivType
Definition:
traits.h:80
Traits< KDL::TwistVel >::valueType
KDL::Twist valueType
Definition:
traits.h:90
Traits< KDL::Wrench >::valueType
KDL::Wrench valueType
Definition:
traits.h:55
Traits< float >::valueType
float valueType
Definition:
traits.h:79
Traits< KDL::Rotation >::derivType
KDL::Vector derivType
Definition:
traits.h:62
Traits< KDL::VectorVel >::valueType
KDL::Vector valueType
Definition:
traits.h:102
Traits
Traits are traits classes to determine the type of a derivative of another type.
Definition:
traits.h:38
KDL::Rotation
represents rotations in 3 dimensional space.
Definition:
frames.hpp:303
Generated on Thu Nov 14 2024 04:37:48 for orocos_kdl by
1.8.17