orocos_kdl
src
utilities
traits.h
Go to the documentation of this file.
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#ifndef KDLPV_TRAITS_H
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#define KDLPV_TRAITS_H
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#include "
utility.h
"
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// forwards declarations :
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namespace
KDL
{
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class
Frame;
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class
Rotation;
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class
Vector;
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class
Twist;
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class
Wrench;
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class
FrameVel;
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class
RotationVel;
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class
VectorVel;
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class
TwistVel;
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}
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template
<
typename
T>
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struct
Traits
{
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typedef
T
valueType
;
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typedef
T
derivType
;
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};
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template
<>
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struct
Traits
<
KDL
::Frame> {
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typedef
KDL::Frame
valueType
;
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typedef
KDL::Twist
derivType
;
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};
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template
<>
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struct
Traits
<
KDL
::Twist> {
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typedef
KDL::Twist
valueType
;
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typedef
KDL::Twist
derivType
;
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};
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template
<>
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struct
Traits
<
KDL
::Wrench> {
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typedef
KDL::Wrench
valueType
;
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typedef
KDL::Wrench
derivType
;
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};
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template
<>
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struct
Traits
<
KDL
::Rotation> {
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typedef
KDL::Rotation
valueType
;
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typedef
KDL::Vector
derivType
;
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};
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template
<>
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struct
Traits
<
KDL
::Vector> {
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typedef
KDL::Vector
valueType
;
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typedef
KDL::Vector
derivType
;
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};
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template
<>
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struct
Traits
<double> {
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typedef
double
valueType
;
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typedef
double
derivType
;
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};
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template
<>
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struct
Traits
<float> {
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typedef
float
valueType
;
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typedef
float
derivType
;
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};
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template
<>
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struct
Traits
<
KDL
::FrameVel> {
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typedef
KDL::Frame
valueType
;
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typedef
KDL::TwistVel
derivType
;
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};
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template
<>
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struct
Traits
<
KDL
::TwistVel> {
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typedef
KDL::Twist
valueType
;
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typedef
KDL::TwistVel
derivType
;
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};
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template
<>
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struct
Traits
<
KDL
::RotationVel> {
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typedef
KDL::Rotation
valueType
;
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typedef
KDL::VectorVel
derivType
;
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};
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template
<>
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struct
Traits
<
KDL
::VectorVel> {
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typedef
KDL::Vector
valueType
;
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typedef
KDL::VectorVel
derivType
;
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};
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#endif
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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
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