forked from bartvdbraak/blender
fc9215129e
fixes ‘friend declaration specifying a default argument must be a definition’, based on information from here: http://www.orocos.org/forum/rtt/rtt-dev/bug-1053-new-compile-error-clang-34-patch-attached
70 lines
2.2 KiB
C++
70 lines
2.2 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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#ifndef KDL_JACOBIAN_HPP
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#define KDL_JACOBIAN_HPP
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#include "frames.hpp"
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namespace KDL
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{
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//Forward declaration
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class ChainJntToJacSolver;
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class Jacobian
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{
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friend class ChainJntToJacSolver;
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private:
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unsigned int size;
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unsigned int nr_blocks;
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public:
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Twist* twists;
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Jacobian(unsigned int size,unsigned int nr=1);
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Jacobian(const Jacobian& arg);
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Jacobian& operator=(const Jacobian& arg);
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bool operator ==(const Jacobian& arg);
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bool operator !=(const Jacobian& arg);
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friend bool Equal(const Jacobian& a,const Jacobian& b,double eps);
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~Jacobian();
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double operator()(int i,int j)const;
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double& operator()(int i,int j);
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unsigned int rows()const;
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unsigned int columns()const;
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friend void SetToZero(Jacobian& jac);
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friend void changeRefPoint(const Jacobian& src1, const Vector& base_AB, Jacobian& dest);
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friend void changeBase(const Jacobian& src1, const Rotation& rot, Jacobian& dest);
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friend void changeRefFrame(const Jacobian& src1,const Frame& frame, Jacobian& dest);
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};
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bool Equal(const Jacobian&, const Jacobian&, double = epsilon);
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}
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#endif
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