22 #ifndef KDL_JNTARRAYACC_HPP
23 #define KDL_JNTARRAYACC_HPP
25 #include "utilities/utility.h"
34 bool Equal(
const JntArrayAcc& src1,
const JntArrayAcc& src2,
double eps=epsilon);
45 JntArrayAcc(
const JntArray& q,
const JntArray& qdot,
const JntArray& qdotdot);
46 JntArrayAcc(
const JntArray& q,
const JntArray& qdot);
49 void resize(
unsigned int newSize);
51 JntArray
value()
const;
52 JntArray
deriv()
const;
JntArray dderiv() const
Definition: jntarrayacc.cpp:61
JntArrayAcc()
Definition: jntarrayacc.hpp:43
friend void Add(const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
Definition: jntarrayacc.cpp:66
void resize(unsigned int newSize)
Definition: jntarrayacc.cpp:45
JntArray value() const
Definition: jntarrayacc.cpp:52
JntArray qdot
Definition: jntarrayacc.hpp:40
friend void Subtract(const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
Definition: jntarrayacc.cpp:85
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
Definition: frameacc.hpp:394
Definition: articulatedbodyinertia.cpp:28
JntArray q
Definition: jntarrayacc.hpp:39
Definition: jntarrayvel.hpp:36
friend bool Equal(const JntArrayAcc &src1, const JntArrayAcc &src2, double eps)
Definition: jntarrayacc.cpp:171
Rall2d< double, double, double > doubleAcc
Definition: frameacc.hpp:40
friend void SetToZero(JntArrayAcc &array)
Definition: jntarrayacc.cpp:164
friend void Divide(const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
Definition: jntarrayacc.cpp:133
friend void Multiply(const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
Definition: jntarrayacc.cpp:104
JntArray qdotdot
Definition: jntarrayacc.hpp:41
JntArray deriv() const
Definition: jntarrayacc.cpp:57
Definition: jntarrayacc.hpp:36
Rall1d< double > doubleVel
Definition: framevel.hpp:36