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

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intern/itasc/kdl/framevel.hpp

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IMETHOD friend void SetToZero(VectorVel& v); IMETHOD friend void SetToZero(VectorVel& v);
IMETHOD friend bool Equal(const VectorVel& r1,const VectorVel& r2,double eps=epsilon); IMETHOD friend bool Equal(const VectorVel& r1,const VectorVel& r2,double eps);
IMETHOD friend bool Equal(const Vector& r1,const VectorVel& r2,double eps=epsilon); IMETHOD friend bool Equal(const Vector& r1,const VectorVel& r2,double eps);
IMETHOD friend bool Equal(const VectorVel& r1,const Vector& r2,double eps=epsilon); IMETHOD friend bool Equal(const VectorVel& r1,const Vector& r2,double eps);
IMETHOD friend VectorVel operator - (const VectorVel& r); IMETHOD friend VectorVel operator - (const VectorVel& r);
IMETHOD friend doubleVel dot(const VectorVel& lhs,const VectorVel& rhs); IMETHOD friend doubleVel dot(const VectorVel& lhs,const VectorVel& rhs);
IMETHOD friend doubleVel dot(const VectorVel& lhs,const Vector& rhs); IMETHOD friend doubleVel dot(const VectorVel& lhs,const Vector& rhs);
IMETHOD friend doubleVel dot(const Vector& lhs,const VectorVel& rhs); IMETHOD friend doubleVel dot(const Vector& lhs,const VectorVel& rhs);
}; };
bool Equal(const VectorVel& r1,const VectorVel& r2,double eps=epsilon);
bool Equal(const Vector& r1,const VectorVel& r2,double eps=epsilon);
bool Equal(const VectorVel& r1,const Vector& r2,double eps=epsilon);
class RotationVel class RotationVel
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IMETHOD friend RotationVel operator* (const RotationVel& r1,const RotationVel& r2); IMETHOD friend RotationVel operator* (const RotationVel& r1,const RotationVel& r2);
IMETHOD friend RotationVel operator* (const Rotation& r1,const RotationVel& r2); IMETHOD friend RotationVel operator* (const Rotation& r1,const RotationVel& r2);
IMETHOD friend RotationVel operator* (const RotationVel& r1,const Rotation& r2); IMETHOD friend RotationVel operator* (const RotationVel& r1,const Rotation& r2);
IMETHOD friend bool Equal(const RotationVel& r1,const RotationVel& r2,double eps=epsilon); IMETHOD friend bool Equal(const RotationVel& r1,const RotationVel& r2,double eps);
IMETHOD friend bool Equal(const Rotation& r1,const RotationVel& r2,double eps=epsilon); IMETHOD friend bool Equal(const Rotation& r1,const RotationVel& r2,double eps);
IMETHOD friend bool Equal(const RotationVel& r1,const Rotation& r2,double eps=epsilon); IMETHOD friend bool Equal(const RotationVel& r1,const Rotation& r2,double eps);
IMETHOD TwistVel Inverse(const TwistVel& arg) const; IMETHOD TwistVel Inverse(const TwistVel& arg) const;
IMETHOD TwistVel Inverse(const Twist& arg) const; IMETHOD TwistVel Inverse(const Twist& arg) const;
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IMETHOD TwistVel operator * (const Twist& arg) const; IMETHOD TwistVel operator * (const Twist& arg) const;
}; };
bool Equal(const RotationVel& r1,const RotationVel& r2,double eps=epsilon);
bool Equal(const Rotation& r1,const RotationVel& r2,double eps=epsilon);
bool Equal(const RotationVel& r1,const Rotation& r2,double eps=epsilon);
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IMETHOD friend FrameVel operator * (const FrameVel& f1,const FrameVel& f2); IMETHOD friend FrameVel operator * (const FrameVel& f1,const FrameVel& f2);
IMETHOD friend FrameVel operator * (const Frame& f1,const FrameVel& f2); IMETHOD friend FrameVel operator * (const Frame& f1,const FrameVel& f2);
IMETHOD friend FrameVel operator * (const FrameVel& f1,const Frame& f2); IMETHOD friend FrameVel operator * (const FrameVel& f1,const Frame& f2);
IMETHOD friend bool Equal(const FrameVel& r1,const FrameVel& r2,double eps=epsilon); IMETHOD friend bool Equal(const FrameVel& r1,const FrameVel& r2,double eps);
IMETHOD friend bool Equal(const Frame& r1,const FrameVel& r2,double eps=epsilon); IMETHOD friend bool Equal(const Frame& r1,const FrameVel& r2,double eps);
IMETHOD friend bool Equal(const FrameVel& r1,const Frame& r2,double eps=epsilon); IMETHOD friend bool Equal(const FrameVel& r1,const Frame& r2,double eps);
IMETHOD TwistVel Inverse(const TwistVel& arg) const; IMETHOD TwistVel Inverse(const TwistVel& arg) const;
IMETHOD TwistVel Inverse(const Twist& arg) const; IMETHOD TwistVel Inverse(const Twist& arg) const;
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IMETHOD TwistVel operator * (const Twist& arg) const; IMETHOD TwistVel operator * (const Twist& arg) const;
}; };
bool Equal(const FrameVel& r1,const FrameVel& r2,double eps=epsilon);
bool Equal(const Frame& r1,const FrameVel& r2,double eps=epsilon);
bool Equal(const FrameVel& r1,const Frame& r2,double eps=epsilon);
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// = Equality operators // = Equality operators
// 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
IMETHOD friend bool Equal(const TwistVel& a,const TwistVel& b,double eps=epsilon); IMETHOD friend bool Equal(const TwistVel& a,const TwistVel& b,double eps);
IMETHOD friend bool Equal(const Twist& a,const TwistVel& b,double eps=epsilon); IMETHOD friend bool Equal(const Twist& a,const TwistVel& b,double eps);
IMETHOD friend bool Equal(const TwistVel& a,const Twist& b,double eps=epsilon); IMETHOD friend bool Equal(const TwistVel& a,const Twist& b,double eps);
// = Conversion to other entities // = Conversion to other entities
IMETHOD Twist GetTwist() const; IMETHOD Twist GetTwist() const;
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}; };
bool Equal(const TwistVel& a,const TwistVel& b,double eps=epsilon);
bool Equal(const Twist& a,const TwistVel& b,double eps=epsilon);
bool Equal(const TwistVel& a,const Twist& b,double eps=epsilon);
IMETHOD VectorVel diff(const VectorVel& a,const VectorVel& b,double dt=1.0) { IMETHOD VectorVel diff(const VectorVel& a,const VectorVel& b,double dt=1.0) {
return VectorVel(diff(a.p,b.p,dt),diff(a.v,b.v,dt)); return VectorVel(diff(a.p,b.p,dt),diff(a.v,b.v,dt));
} }
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