forked from bartvdbraak/blender
112 lines
3.3 KiB
C++
112 lines
3.3 KiB
C++
// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#include "jntarrayacc.hpp"
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namespace KDL
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{
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JntArrayVel::JntArrayVel(unsigned int size):
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q(size),qdot(size)
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{
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}
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JntArrayVel::JntArrayVel(const JntArray& qin, const JntArray& qdotin):
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q(qin),qdot(qdotin)
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{
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assert(q.rows()==qdot.rows());
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}
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JntArrayVel::JntArrayVel(const JntArray& qin):
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q(qin),qdot(q.rows())
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{
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}
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JntArray JntArrayVel::value()const
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{
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return q;
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}
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JntArray JntArrayVel::deriv()const
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{
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return qdot;
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}
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void Add(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest)
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{
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Add(src1.q,src2.q,dest.q);
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Add(src1.qdot,src2.qdot,dest.qdot);
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}
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void Add(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest)
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{
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Add(src1.q,src2,dest.q);
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dest.qdot=src1.qdot;
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}
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void Subtract(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest)
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{
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Subtract(src1.q,src2.q,dest.q);
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Subtract(src1.qdot,src2.qdot,dest.qdot);
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}
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void Subtract(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest)
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{
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Subtract(src1.q,src2,dest.q);
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dest.qdot=src1.qdot;
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}
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void Multiply(const JntArrayVel& src,const double& factor,JntArrayVel& dest)
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{
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Multiply(src.q,factor,dest.q);
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Multiply(src.qdot,factor,dest.qdot);
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}
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void Multiply(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest)
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{
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Multiply(src.q,factor.grad,dest.q);
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Multiply(src.qdot,factor.t,dest.qdot);
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Add(dest.qdot,dest.q,dest.qdot);
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Multiply(src.q,factor.t,dest.q);
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}
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void Divide(const JntArrayVel& src,const double& factor,JntArrayVel& dest)
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{
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Divide(src.q,factor,dest.q);
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Divide(src.qdot,factor,dest.qdot);
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}
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void Divide(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest)
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{
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Multiply(src.q,(factor.grad/factor.t/factor.t),dest.q);
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Divide(src.qdot,factor.t,dest.qdot);
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Subtract(dest.qdot,dest.q,dest.qdot);
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Divide(src.q,factor.t,dest.q);
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}
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void SetToZero(JntArrayVel& array)
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{
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SetToZero(array.q);
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SetToZero(array.qdot);
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}
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bool Equal(const JntArrayVel& src1,const JntArrayVel& src2,double eps)
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{
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return Equal(src1.q,src2.q,eps)&&Equal(src1.qdot,src2.qdot,eps);
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}
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}
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