KDL::Rall1d< T, V, S > Class Template Reference

#include <rall1d.h>

Public Types
typedef T	valuetype
typedef V	gradienttype
typedef S	scalartype

Public Member Functions
INLINE	Rall1d ()
T	value () const
V	deriv () const
INLINE	Rall1d (typename TI< T >::Arg c)
INLINE	Rall1d (typename TI< T >::Arg tn, typename TI< V >::Arg afg)
INLINE	Rall1d (const Rall1d< T, V, S > &r)
INLINE T &	Value ()
INLINE V &	Gradient ()
INLINE Rall1d< T, V, S > &	operator= (S c)
INLINE Rall1d< T, V, S > &	operator= (const Rall1d< T, V, S > &r)
INLINE Rall1d< T, V, S > &	operator/= (const Rall1d< T, V, S > &rhs)
INLINE Rall1d< T, V, S > &	operator*= (const Rall1d< T, V, S > &rhs)
INLINE Rall1d< T, V, S > &	operator+= (const Rall1d< T, V, S > &rhs)
INLINE Rall1d< T, V, S > &	operator-= (const Rall1d< T, V, S > &rhs)
INLINE Rall1d< T, V, S > &	operator/= (S rhs)
INLINE Rall1d< T, V, S > &	operator*= (S rhs)
INLINE Rall1d< T, V, S > &	operator+= (S rhs)
INLINE Rall1d< T, V, S > &	operator-= (S rhs)

Static Public Member Functions
static INLINE Rall1d< T, V, S >	Zero ()
static INLINE Rall1d< T, V, S >	Identity ()

Public Attributes
T	t
	value
V	grad
	gradient

Detailed Description

template<typename T, typename V = T, typename S = T>
class KDL::Rall1d< T, V, S >

Rall1d contains a value, and its gradient, and defines an algebraic structure on this pair. This template class has 3 template parameters :

• T contains the type of the value.
• V contains the type of the gradient (can be a vector-like type).
  
• S defines a scalar type that can operate on Rall1d. This is the type that is used to give back values of Norm() etc.

S is usefull when you recurse a Rall1d object into itself to create a 2nd, 3th, 4th,.. derivatives. (e.g. Rall1d< Rall1d<double>, Rall1d<double>, double> ).

S is always passed by value.

Class Type

Concrete implementation

Definition at line 47 of file rall1d.h.

Member Typedef Documentation

gradienttype

template<typename T, typename V = T, typename S = T>

typedef V KDL::Rall1d< T, V, S >::gradienttype

Definition at line 51 of file rall1d.h.

scalartype

template<typename T, typename V = T, typename S = T>

typedef S KDL::Rall1d< T, V, S >::scalartype

Definition at line 52 of file rall1d.h.

valuetype

template<typename T, typename V = T, typename S = T>

typedef T KDL::Rall1d< T, V, S >::valuetype

Definition at line 50 of file rall1d.h.

Constructor & Destructor Documentation

Rall1d() [1/4]

template<typename T, typename V = T, typename S = T>

INLINE KDL::Rall1d< T, V, S >::Rall1d ( )

inline

Definition at line 57 of file rall1d.h.

Referenced by KDL::abs(), KDL::acos(), KDL::asin(), KDL::atan(), KDL::atan2(), KDL::cos(), KDL::cosh(), KDL::exp(), KDL::hypot(), KDL::LinComb(), KDL::log(), KDL::operator*(), KDL::operator*(), KDL::operator*(), KDL::operator+(), KDL::operator+(), KDL::operator+(), KDL::operator-(), KDL::operator-(), KDL::operator-(), KDL::operator-(), KDL::operator/(), KDL::operator/(), KDL::operator/(), KDL::pow(), KDL::sin(), KDL::sinh(), KDL::sqr(), KDL::sqrt(), KDL::tan(), and KDL::tanh().

Rall1d() [2/4]

template<typename T, typename V = T, typename S = T>

INLINE KDL::Rall1d< T, V, S >::Rall1d ( typename TI< T >::Arg c )

inlineexplicit

Definition at line 66 of file rall1d.h.

Rall1d() [3/4]

template<typename T, typename V = T, typename S = T>

INLINE KDL::Rall1d< T, V, S >::Rall1d ( typename TI< T >::Arg tn, typename TI< V >::Arg afg )

inline

Definition at line 69 of file rall1d.h.

Rall1d() [4/4]

template<typename T, typename V = T, typename S = T>

INLINE KDL::Rall1d< T, V, S >::Rall1d ( const Rall1d< T, V, S > & r )

inline

Definition at line 71 of file rall1d.h.

Member Function Documentation

deriv()

template<typename T, typename V = T, typename S = T>

V KDL::Rall1d< T, V, S >::deriv ( ) const

inline

Definition at line 62 of file rall1d.h.

Gradient()

template<typename T, typename V = T, typename S = T>

INLINE V & KDL::Rall1d< T, V, S >::Gradient ( )

inline

Definition at line 80 of file rall1d.h.

Identity()

template<typename T, typename V = T, typename S = T>

INLINE Rall1d< T, V, S > KDL::Rall1d< T, V, S >::Identity ( )

inlinestatic

Definition at line 89 of file rall1d.h.

operator*=() [1/2]

template<typename T, typename V = T, typename S = T>

INLINE Rall1d< T, V, S > & KDL::Rall1d< T, V, S >::operator*= ( const Rall1d< T, V, S > & rhs )

inline

Definition at line 108 of file rall1d.h.

operator*=() [2/2]

template<typename T, typename V = T, typename S = T>

INLINE Rall1d< T, V, S > & KDL::Rall1d< T, V, S >::operator*= ( S rhs )

inline

Definition at line 136 of file rall1d.h.

operator+=() [1/2]

template<typename T, typename V = T, typename S = T>

INLINE Rall1d< T, V, S > & KDL::Rall1d< T, V, S >::operator+= ( const Rall1d< T, V, S > & rhs )

inline

Definition at line 115 of file rall1d.h.

operator+=() [2/2]

template<typename T, typename V = T, typename S = T>

INLINE Rall1d< T, V, S > & KDL::Rall1d< T, V, S >::operator+= ( S rhs )

inline

Definition at line 143 of file rall1d.h.

operator-=() [1/2]

template<typename T, typename V = T, typename S = T>

INLINE Rall1d< T, V, S > & KDL::Rall1d< T, V, S >::operator-= ( const Rall1d< T, V, S > & rhs )

inline

Definition at line 122 of file rall1d.h.

operator-=() [2/2]

template<typename T, typename V = T, typename S = T>

INLINE Rall1d< T, V, S > & KDL::Rall1d< T, V, S >::operator-= ( S rhs )

inline

Definition at line 149 of file rall1d.h.

operator/=() [1/2]

template<typename T, typename V = T, typename S = T>

INLINE Rall1d< T, V, S > & KDL::Rall1d< T, V, S >::operator/= ( const Rall1d< T, V, S > & rhs )

inline

Definition at line 101 of file rall1d.h.

operator/=() [2/2]

template<typename T, typename V = T, typename S = T>

INLINE Rall1d< T, V, S > & KDL::Rall1d< T, V, S >::operator/= ( S rhs )

inline

Definition at line 129 of file rall1d.h.

operator=() [1/2]

template<typename T, typename V = T, typename S = T>

INLINE Rall1d< T, V, S > & KDL::Rall1d< T, V, S >::operator= ( const Rall1d< T, V, S > & r )

inline

Definition at line 98 of file rall1d.h.

operator=() [2/2]

template<typename T, typename V = T, typename S = T>

INLINE Rall1d< T, V, S > & KDL::Rall1d< T, V, S >::operator= ( S c )

inline

Definition at line 95 of file rall1d.h.

Value()

template<typename T, typename V = T, typename S = T>

INLINE T & KDL::Rall1d< T, V, S >::Value ( )

inline

Definition at line 76 of file rall1d.h.

value()

template<typename T, typename V = T, typename S = T>

T KDL::Rall1d< T, V, S >::value ( ) const

inline

Definition at line 59 of file rall1d.h.

Zero()

template<typename T, typename V = T, typename S = T>

INLINE Rall1d< T, V, S > KDL::Rall1d< T, V, S >::Zero ( )

inlinestatic

Definition at line 84 of file rall1d.h.

Member Data Documentation

grad

template<typename T, typename V = T, typename S = T>

V KDL::Rall1d< T, V, S >::grad

gradient

Definition at line 55 of file rall1d.h.

Referenced by KDL::cos(), KDL::cosh(), KDL::JntArrayAcc::Divide, KDL::JntArrayVel::Divide, KDL::exp(), KDL::LinComb(), KDL::LinCombR(), KDL::log(), KDL::JntArrayAcc::Multiply, KDL::JntArrayVel::Multiply, KDL::FrameVel::operator*, KDL::FrameVel::operator*, KDL::operator*(), KDL::operator+(), KDL::operator-(), KDL::operator-(), KDL::operator/(), KDL::Rall1d< double >::operator=(), KDL::pow(), KDL::SetToIdentity(), KDL::SetToZero(), KDL::sin(), KDL::sinh(), KDL::sqr(), KDL::sqrt(), KDL::tan(), and KDL::tanh().

t

template<typename T, typename V = T, typename S = T>

T KDL::Rall1d< T, V, S >::t

value

Definition at line 54 of file rall1d.h.

Referenced by KDL::cos(), KDL::cosh(), KDL::JntArrayAcc::Divide, KDL::JntArrayVel::Divide, KDL::exp(), KDL::LinComb(), KDL::LinCombR(), KDL::log(), KDL::JntArrayAcc::Multiply, KDL::JntArrayVel::Multiply, KDL::Norm(), KDL::FrameVel::operator*, KDL::FrameVel::operator*, KDL::operator*(), KDL::operator+(), KDL::operator-(), KDL::operator-(), KDL::operator/(), KDL::Rall1d< double >::operator=(), KDL::pow(), KDL::SetToIdentity(), KDL::SetToZero(), KDL::sin(), KDL::sinh(), KDL::sqr(), KDL::sqrt(), KDL::tan(), and KDL::tanh().

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The documentation for this class was generated from the following file:

• rall1d.h