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

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intern/itasc/kdl/frames.hpp

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//! do not use operator == because the definition of Equal(.,.) is slightly //! do not use operator == because the definition of Equal(.,.) is slightly
//! different. It compares whether the 2 arguments are equal in an eps-interval //! different. It compares whether the 2 arguments are equal in an eps-interval
inline friend bool Equal(const Vector& a,const Vector& b,double eps=epsilon); inline friend bool Equal(const Vector& a,const Vector& b,double eps);
//! return a normalized vector //! return a normalized vector
inline friend Vector Normalize(const Vector& a, double eps=epsilon); inline friend Vector Normalize(const Vector& a, double eps);
//! The literal equality operator==(), also identical. //! The literal equality operator==(), also identical.
inline friend bool operator==(const Vector& a,const Vector& b); inline friend bool operator==(const Vector& a,const Vector& b);
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//! do not use operator == because the definition of Equal(.,.) is slightly //! do not use operator == because the definition of Equal(.,.) is slightly
//! different. It compares whether the 2 arguments are equal in an eps-interval //! different. It compares whether the 2 arguments are equal in an eps-interval
friend bool Equal(const Rotation& a,const Rotation& b,double eps=epsilon); friend bool Equal(const Rotation& a,const Rotation& b,double eps);
//! The literal equality operator==(), also identical. //! The literal equality operator==(), also identical.
friend bool operator==(const Rotation& a,const Rotation& b); friend bool operator==(const Rotation& a,const Rotation& b);
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//! do not use operator == because the definition of Equal(.,.) is slightly //! do not use operator == because the definition of Equal(.,.) is slightly
//! different. It compares whether the 2 arguments are equal in an eps-interval //! different. It compares whether the 2 arguments are equal in an eps-interval
inline friend bool Equal(const Frame& a,const Frame& b,double eps=epsilon); inline friend bool Equal(const Frame& a,const Frame& b,double eps);
//! The literal equality operator==(), also identical. //! The literal equality operator==(), also identical.
inline friend bool operator==(const Frame& a,const Frame& b); inline friend bool operator==(const Frame& a,const Frame& b);
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//! do not use operator == because the definition of Equal(.,.) is slightly //! do not use operator == because the definition of Equal(.,.) is slightly
//! different. It compares whether the 2 arguments are equal in an eps-interval //! different. It compares whether the 2 arguments are equal in an eps-interval
inline friend bool Equal(const Twist& a,const Twist& b,double eps=epsilon); inline friend bool Equal(const Twist& a,const Twist& b,double eps);
//! The literal equality operator==(), also identical. //! The literal equality operator==(), also identical.
inline friend bool operator==(const Twist& a,const Twist& b); inline friend bool operator==(const Twist& a,const Twist& b);
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//! do not use operator == because the definition of Equal(.,.) is slightly //! do not use operator == because the definition of Equal(.,.) is slightly
//! different. It compares whether the 2 arguments are equal in an eps-interval //! different. It compares whether the 2 arguments are equal in an eps-interval
inline friend bool Equal(const Wrench& a,const Wrench& b,double eps=epsilon); inline friend bool Equal(const Wrench& a,const Wrench& b,double eps);
//! The literal equality operator==(), also identical. //! The literal equality operator==(), also identical.
inline friend bool operator==(const Wrench& a,const Wrench& b); inline friend bool operator==(const Wrench& a,const Wrench& b);
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//! do not use operator == because the definition of Equal(.,.) is slightly //! do not use operator == because the definition of Equal(.,.) is slightly
//! different. It compares whether the 2 arguments are equal in an eps-interval //! different. It compares whether the 2 arguments are equal in an eps-interval
inline friend bool Equal(const Vector2& a,const Vector2& b,double eps=epsilon); inline friend bool Equal(const Vector2& a,const Vector2& b,double eps);
friend class Rotation2; friend class Rotation2;
}; };
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//! do not use operator == because the definition of Equal(.,.) is slightly //! do not use operator == because the definition of Equal(.,.) is slightly
//! different. It compares whether the 2 arguments are equal in an eps-interval //! different. It compares whether the 2 arguments are equal in an eps-interval
inline friend bool Equal(const Rotation2& a,const Rotation2& b,double eps=epsilon); inline friend bool Equal(const Rotation2& a,const Rotation2& b,double eps);
}; };
//! A 2D frame class, for further documentation see the Frames class //! A 2D frame class, for further documentation see the Frames class
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tmp.SetIdentity(); tmp.SetIdentity();
return tmp; return tmp;
} }
inline friend bool Equal(const Frame2& a,const Frame2& b,double eps=epsilon); inline friend bool Equal(const Frame2& a,const Frame2& b,double eps);
}; };
Vector Normalize(const Vector& a, double eps=epsilon);
bool Equal(const Vector& a,const Vector& b,double eps=epsilon);
bool Equal(const Rotation& a,const Rotation& b,double eps=epsilon);
bool Equal(const Frame& a,const Frame& b,double eps=epsilon);
bool Equal(const Twist& a,const Twist& b,double eps=epsilon);
bool Equal(const Wrench& a,const Wrench& b,double eps=epsilon);
bool Equal(const Vector2& a,const Vector2& b,double eps=epsilon);
bool Equal(const Rotation2& a,const Rotation2& b,double eps=epsilon);
bool Equal(const Frame2& a,const Frame2& b,double eps=epsilon);
IMETHOD Vector diff(const Vector& a,const Vector& b,double dt=1); IMETHOD Vector diff(const Vector& a,const Vector& b,double dt=1);
IMETHOD Vector diff(const Rotation& R_a_b1,const Rotation& R_a_b2,double dt=1); IMETHOD Vector diff(const Rotation& R_a_b1,const Rotation& R_a_b2,double dt=1);
IMETHOD Twist diff(const Frame& F_a_b1,const Frame& F_a_b2,double dt=1); IMETHOD Twist diff(const Frame& F_a_b1,const Frame& F_a_b2,double dt=1);
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