orocos_kdl
traits.h
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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> {
47 };
48 template <>
49 struct Traits<KDL::Twist> {
52 };
53 template <>
54 struct Traits<KDL::Wrench> {
57 };
58 
59 template <>
60 struct Traits<KDL::Rotation> {
63 };
64 
65 template <>
66 struct Traits<KDL::Vector> {
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> {
87 };
88 template <>
89 struct Traits<KDL::TwistVel> {
92 };
93 
94 template <>
95 struct Traits<KDL::RotationVel> {
98 };
99 
100 template <>
101 struct Traits<KDL::VectorVel> {
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