Blender  V3.3
traits.h
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1 
4 #ifndef KDLPV_TRAITS_H
5 #define KDLPV_TRAITS_H
6 
7 #include "utility.h"
8 
9 
10 // forwards declarations :
11 namespace KDL {
12  class Frame;
13  class Rotation;
14  class Vector;
15  class Twist;
16  class Wrench;
17  class FrameVel;
18  class RotationVel;
19  class VectorVel;
20  class TwistVel;
21 }
22 
23 
40 template <typename T>
41 struct Traits {
42  typedef T valueType;
43  typedef T derivType;
44 };
45 
46 template <>
47 struct Traits<KDL::Frame> {
50 };
51 template <>
52 struct Traits<KDL::Twist> {
55 };
56 template <>
57 struct Traits<KDL::Wrench> {
60 };
61 
62 template <>
63 struct Traits<KDL::Rotation> {
66 };
67 
68 template <>
69 struct Traits<KDL::Vector> {
72 };
73 
74 template <>
75 struct Traits<double> {
76  typedef double valueType;
77  typedef double derivType;
78 };
79 
80 template <>
81 struct Traits<float> {
82  typedef float valueType;
83  typedef float derivType;
84 };
85 
86 template <>
87 struct Traits<KDL::FrameVel> {
90 };
91 template <>
92 struct Traits<KDL::TwistVel> {
95 };
96 
97 template <>
98 struct Traits<KDL::RotationVel> {
101 };
102 
103 template <>
104 struct Traits<KDL::VectorVel> {
107 };
108 
109 
110 
111 #endif
112 
113 
114 
typedef float(TangentPoint)[2]
typedef double(DMatrix)[4][4]
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:526
represents rotations in 3 dimensional space.
Definition: frames.hpp:299
represents both translational and rotational velocities.
Definition: frames.hpp:679
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:143
represents both translational and rotational acceleration.
Definition: frames.hpp:835
@ Vector
Vector data type.
#define T
Definition: chain.cpp:27
KDL::Frame valueType
Definition: traits.h:88
KDL::TwistVel derivType
Definition: traits.h:89
KDL::Twist derivType
Definition: traits.h:49
KDL::Frame valueType
Definition: traits.h:48
KDL::Rotation valueType
Definition: traits.h:99
KDL::VectorVel derivType
Definition: traits.h:100
KDL::Vector derivType
Definition: traits.h:65
KDL::Rotation valueType
Definition: traits.h:64
KDL::Twist valueType
Definition: traits.h:93
KDL::TwistVel derivType
Definition: traits.h:94
KDL::Twist valueType
Definition: traits.h:53
KDL::Twist derivType
Definition: traits.h:54
KDL::VectorVel derivType
Definition: traits.h:106
KDL::Vector valueType
Definition: traits.h:105
KDL::Vector derivType
Definition: traits.h:71
KDL::Vector valueType
Definition: traits.h:70
KDL::Wrench valueType
Definition: traits.h:58
KDL::Wrench derivType
Definition: traits.h:59
double valueType
Definition: traits.h:76
double derivType
Definition: traits.h:77
float valueType
Definition: traits.h:82
float derivType
Definition: traits.h:83
Traits are traits classes to determine the type of a derivative of another type.
Definition: traits.h:41
T derivType
Definition: traits.h:43
T valueType
Definition: traits.h:42