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Differential D183 Diff 513 intern/itasc/kdl/frameacc.hpp

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intern/itasc/kdl/frameacc.hpp

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IMETHOD friend VectorAcc operator / (const VectorAcc& r2,const doubleAcc& r1); IMETHOD friend VectorAcc operator / (const VectorAcc& r2,const doubleAcc& r1);
IMETHOD friend bool Equal(const VectorAcc& r1,const VectorAcc& r2,double eps=epsilon); IMETHOD friend bool Equal(const VectorAcc& r1,const VectorAcc& r2,double eps);
IMETHOD friend bool Equal(const Vector& r1,const VectorAcc& r2,double eps=epsilon); IMETHOD friend bool Equal(const Vector& r1,const VectorAcc& r2,double eps);
IMETHOD friend bool Equal(const VectorAcc& r1,const Vector& r2,double eps=epsilon); IMETHOD friend bool Equal(const VectorAcc& r1,const Vector& r2,double eps);
IMETHOD friend VectorAcc operator - (const VectorAcc& r); IMETHOD friend VectorAcc operator - (const VectorAcc& r);
IMETHOD friend doubleAcc dot(const VectorAcc& lhs,const VectorAcc& rhs); IMETHOD friend doubleAcc dot(const VectorAcc& lhs,const VectorAcc& rhs);
IMETHOD friend doubleAcc dot(const VectorAcc& lhs,const Vector& rhs); IMETHOD friend doubleAcc dot(const VectorAcc& lhs,const Vector& rhs);
IMETHOD friend doubleAcc dot(const Vector& lhs,const VectorAcc& rhs); IMETHOD friend doubleAcc dot(const Vector& lhs,const VectorAcc& rhs);
}; };
bool Equal(const VectorAcc& r1,const VectorAcc& r2,double eps=epsilon);
bool Equal(const Vector& r1,const VectorAcc& r2,double eps=epsilon);
bool Equal(const VectorAcc& r1,const Vector& r2,double eps=epsilon);
class RotationAcc class RotationAcc
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IMETHOD friend RotationAcc operator* (const RotationAcc& r1,const RotationAcc& r2); IMETHOD friend RotationAcc operator* (const RotationAcc& r1,const RotationAcc& r2);
IMETHOD friend RotationAcc operator* (const Rotation& r1,const RotationAcc& r2); IMETHOD friend RotationAcc operator* (const Rotation& r1,const RotationAcc& r2);
IMETHOD friend RotationAcc operator* (const RotationAcc& r1,const Rotation& r2); IMETHOD friend RotationAcc operator* (const RotationAcc& r1,const Rotation& r2);
IMETHOD friend bool Equal(const RotationAcc& r1,const RotationAcc& r2,double eps=epsilon); IMETHOD friend bool Equal(const RotationAcc& r1,const RotationAcc& r2,double eps);
IMETHOD friend bool Equal(const Rotation& r1,const RotationAcc& r2,double eps=epsilon); IMETHOD friend bool Equal(const Rotation& r1,const RotationAcc& r2,double eps);
IMETHOD friend bool Equal(const RotationAcc& r1,const Rotation& r2,double eps=epsilon); IMETHOD friend bool Equal(const RotationAcc& r1,const Rotation& r2,double eps);
IMETHOD TwistAcc Inverse(const TwistAcc& arg) const; IMETHOD TwistAcc Inverse(const TwistAcc& arg) const;
IMETHOD TwistAcc Inverse(const Twist& arg) const; IMETHOD TwistAcc Inverse(const Twist& arg) const;
IMETHOD TwistAcc operator * (const TwistAcc& arg) const; IMETHOD TwistAcc operator * (const TwistAcc& arg) const;
IMETHOD TwistAcc operator * (const Twist& arg) const; IMETHOD TwistAcc operator * (const Twist& arg) const;
}; };
bool Equal(const RotationAcc& r1,const RotationAcc& r2,double eps=epsilon);
bool Equal(const Rotation& r1,const RotationAcc& r2,double eps=epsilon);
bool Equal(const RotationAcc& r1,const Rotation& r2,double eps=epsilon);
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IMETHOD friend FrameAcc operator * (const FrameAcc& f1,const FrameAcc& f2); IMETHOD friend FrameAcc operator * (const FrameAcc& f1,const FrameAcc& f2);
IMETHOD friend FrameAcc operator * (const Frame& f1,const FrameAcc& f2); IMETHOD friend FrameAcc operator * (const Frame& f1,const FrameAcc& f2);
IMETHOD friend FrameAcc operator * (const FrameAcc& f1,const Frame& f2); IMETHOD friend FrameAcc operator * (const FrameAcc& f1,const Frame& f2);
IMETHOD friend bool Equal(const FrameAcc& r1,const FrameAcc& r2,double eps=epsilon); IMETHOD friend bool Equal(const FrameAcc& r1,const FrameAcc& r2,double eps);
IMETHOD friend bool Equal(const Frame& r1,const FrameAcc& r2,double eps=epsilon); IMETHOD friend bool Equal(const Frame& r1,const FrameAcc& r2,double eps);
IMETHOD friend bool Equal(const FrameAcc& r1,const Frame& r2,double eps=epsilon); IMETHOD friend bool Equal(const FrameAcc& r1,const Frame& r2,double eps);
IMETHOD TwistAcc Inverse(const TwistAcc& arg) const; IMETHOD TwistAcc Inverse(const TwistAcc& arg) const;
IMETHOD TwistAcc Inverse(const Twist& arg) const; IMETHOD TwistAcc Inverse(const Twist& arg) const;
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IMETHOD TwistAcc operator * (const Twist& arg) const; IMETHOD TwistAcc operator * (const Twist& arg) const;
}; };
bool Equal(const FrameAcc& r1,const FrameAcc& r2,double eps=epsilon);
bool Equal(const Frame& r1,const FrameAcc& r2,double eps=epsilon);
bool Equal(const FrameAcc& r1,const Frame& r2,double eps=epsilon);
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// the new point. // the new point.
// Complexity : 6M+6A // Complexity : 6M+6A
IMETHOD friend bool Equal(const TwistAcc& a,const TwistAcc& b,double eps=epsilon); IMETHOD friend bool Equal(const TwistAcc& a,const TwistAcc& b,double eps);
IMETHOD friend bool Equal(const Twist& a,const TwistAcc& b,double eps=epsilon); IMETHOD friend bool Equal(const Twist& a,const TwistAcc& b,double eps);
IMETHOD friend bool Equal(const TwistAcc& a,const Twist& b,double eps=epsilon); IMETHOD friend bool Equal(const TwistAcc& a,const Twist& b,double eps);
IMETHOD Twist GetTwist() const; IMETHOD Twist GetTwist() const;
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}; };
bool Equal(const TwistAcc& a,const TwistAcc& b,double eps=epsilon);
bool Equal(const Twist& a,const TwistAcc& b,double eps=epsilon);
bool Equal(const TwistAcc& a,const Twist& b,double eps=epsilon);
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