Blender  V3.3
Classes | Typedefs | Functions | Variables
KDL Namespace Reference

Classes

class  Chain
 This class encapsulates a serial kinematic interconnection structure. It is build out of segments. More...
 
class  ChainFkSolverPos
 This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain. More...
 
class  ChainFkSolverVel
 This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain. More...
 
class  ChainFkSolverAcc
 This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain. More...
 
class  ChainFkSolverPos_recursive
 
class  ChainJntToJacSolver
 Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers. It should not be used outside of KDL. More...
 
class  VectorAcc
 
class  RotationAcc
 
class  FrameAcc
 
class  TwistAcc
 
class  Vector
 A concrete implementation of a 3 dimensional vector class. More...
 
class  Rotation
 represents rotations in 3 dimensional space. More...
 
class  Frame
 represents a frame transformation in 3D space (rotation + translation) More...
 
class  Twist
 represents both translational and rotational velocities. More...
 
class  Wrench
 represents both translational and rotational acceleration. More...
 
class  Vector2
 2D version of Vector More...
 
class  Rotation2
 
class  Frame2
 
class  VectorVel
 
class  RotationVel
 
class  FrameVel
 
class  TwistVel
 
class  Inertia
 
class  Jacobian
 
class  JntArray
 
class  JntArrayAcc
 
class  JntArrayVel
 
class  Joint
 This class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties. More...
 
class  Segment
 This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and an inertia) with a joint and with "handles", root and tip to connect to other segments. More...
 
class  TreeElement
 
class  Tree
 This class encapsulates a tree kinematic interconnection structure. It is build out of segments. More...
 
class  TreeFkSolverPos
 This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree. More...
 
class  TreeFkSolverPos_recursive
 
class  TreeJntToJacSolver
 
class  Error
 
class  Error_IO
 
class  Error_BasicIO
 
class  Error_BasicIO_File
 
class  Error_BasicIO_Exp_Delim
 
class  Error_BasicIO_Not_A_Space
 
class  Error_BasicIO_Unexpected
 
class  Error_BasicIO_ToBig
 
class  Error_BasicIO_Not_Opened
 
class  Error_FrameIO
 
class  Error_Frame_Vector_Unexpected_id
 
class  Error_Frame_Frame_Unexpected_id
 
class  Error_Frame_Rotation_Unexpected_id
 
class  Error_ChainIO
 
class  Error_Chain_Unexpected_id
 
class  Error_RedundancyIO
 Error_Redundancy indicates an error that occured during solving for redundancy. More...
 
class  Error_Redundancy_Illegal_Resolutiontype
 
class  Error_Redundancy
 
class  Error_Redundancy_Unavoidable
 
class  Error_Redundancy_Low_Manip
 
class  Error_MotionIO
 
class  Error_MotionIO_Unexpected_MotProf
 
class  Error_MotionIO_Unexpected_Traj
 
class  Error_MotionPlanning
 
class  Error_MotionPlanning_Circle_ToSmall
 
class  Error_MotionPlanning_Circle_No_Plane
 
class  Error_MotionPlanning_Incompatible
 
class  Error_MotionPlanning_Not_Feasible
 
class  Error_MotionPlanning_Not_Applicable
 
class  Error_Integrator
 Abstract subclass of all errors that can be thrown by Adaptive_Integrator. More...
 
class  Error_Stepsize_Underflow
 Error_Stepsize_Underflow is thrown if the stepsize becomes to small. More...
 
class  Error_To_Many_Steps
 
class  Error_Stepsize_To_Small
 Error_Stepsize_To_Small is thrown if the stepsize becomes to small
More...
 
class  Error_Criterium
 
class  Error_Criterium_Unexpected_id
 
class  Error_Limits
 
class  Error_Limits_Unexpected_id
 
class  Error_Not_Implemented
 
class  Rall1d
 
class  Rall2d
 
class  TI
 
class  TI< double >
 
class  TI< int >
 

Typedefs

typedef Rall2d< double, double, doubledoubleAcc
 
typedef Rall1d< doubledoubleVel
 
typedef std::map< std::string, TreeElement, std::less< std::string >, Eigen::aligned_allocator< std::pair< const std::string, TreeElement > > > SegmentMap
 
typedef std::stack< std::string > ErrorStack
 

Functions

IMETHOD bool Equal (const VectorAcc &, const VectorAcc &, double=epsilon)
 
IMETHOD bool Equal (const Vector &, const VectorAcc &, double=epsilon)
 
IMETHOD bool Equal (const VectorAcc &, const Vector &, double=epsilon)
 
IMETHOD bool Equal (const RotationAcc &, const RotationAcc &, double=epsilon)
 
IMETHOD bool Equal (const Rotation &, const RotationAcc &, double=epsilon)
 
IMETHOD bool Equal (const RotationAcc &, const Rotation &, double=epsilon)
 
IMETHOD bool Equal (const FrameAcc &, const FrameAcc &, double=epsilon)
 
IMETHOD bool Equal (const Frame &, const FrameAcc &, double=epsilon)
 
IMETHOD bool Equal (const FrameAcc &, const Frame &, double=epsilon)
 
IMETHOD bool Equal (const TwistAcc &, const TwistAcc &, double=epsilon)
 
IMETHOD bool Equal (const Twist &, const TwistAcc &, double=epsilon)
 
IMETHOD bool Equal (const TwistAcc &, const Twist &, double=epsilon)
 
bool Equal (const Rotation &a, const Rotation &b, double eps)
 
Rotation operator* (const Rotation &lhs, const Rotation &rhs)
 
bool operator== (const Rotation &a, const Rotation &b)
 
Vector Normalize (const Vector &, double eps=epsilon)
 
bool Equal (const Vector &, const Vector &, double=epsilon)
 
bool Equal (const Frame &, const Frame &, double=epsilon)
 
bool Equal (const Twist &, const Twist &, double=epsilon)
 
bool Equal (const Wrench &, const Wrench &, double=epsilon)
 
bool Equal (const Vector2 &, const Vector2 &, double=epsilon)
 
bool Equal (const Rotation2 &, const Rotation2 &, double=epsilon)
 
bool Equal (const Frame2 &, const Frame2 &, double=epsilon)
 
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 Twist diff (const Frame &F_a_b1, const Frame &F_a_b2, double dt=1)
 
IMETHOD Twist diff (const Twist &a, const Twist &b, double dt=1)
 
IMETHOD Wrench diff (const Wrench &W_a_p1, const Wrench &W_a_p2, double dt=1)
 
IMETHOD Vector addDelta (const Vector &a, const Vector &da, double dt=1)
 
IMETHOD Rotation addDelta (const Rotation &a, const Vector &da, double dt=1)
 
IMETHOD Frame addDelta (const Frame &a, const Twist &da, double dt=1)
 
IMETHOD Twist addDelta (const Twist &a, const Twist &da, double dt=1)
 
IMETHOD Wrench addDelta (const Wrench &a, const Wrench &da, double dt=1)
 
std::ostream & operator<< (std::ostream &os, const Vector &v)
 
std::ostream & operator<< (std::ostream &os, const Twist &v)
 
std::ostream & operator<< (std::ostream &os, const Wrench &v)
 
std::ostream & operator<< (std::ostream &os, const Rotation &R)
 
std::ostream & operator<< (std::ostream &os, const Frame &T)
 
std::ostream & operator<< (std::ostream &os, const Vector2 &v)
 
std::ostream & operator<< (std::ostream &os, const Rotation2 &R)
 
std::ostream & operator<< (std::ostream &os, const Frame2 &T)
 
std::istream & operator>> (std::istream &is, Vector &v)
 
std::istream & operator>> (std::istream &is, Twist &v)
 
std::istream & operator>> (std::istream &is, Wrench &v)
 
std::istream & operator>> (std::istream &is, Rotation &r)
 
std::istream & operator>> (std::istream &is, Frame &T)
 
std::istream & operator>> (std::istream &is, Vector2 &v)
 
std::istream & operator>> (std::istream &is, Rotation2 &r)
 
std::istream & operator>> (std::istream &is, Frame2 &T)
 
IMETHOD doubleVel diff (const doubleVel &a, const doubleVel &b, double dt=1.0)
 
IMETHOD doubleVel addDelta (const doubleVel &a, const doubleVel &da, double dt=1.0)
 
IMETHOD void random (doubleVel &F)
 
IMETHOD void posrandom (doubleVel &F)
 
IMETHOD bool Equal (const VectorVel &, const VectorVel &, double=epsilon)
 
IMETHOD bool Equal (const Vector &, const VectorVel &, double=epsilon)
 
IMETHOD bool Equal (const VectorVel &, const Vector &, double=epsilon)
 
IMETHOD bool Equal (const RotationVel &, const RotationVel &, double=epsilon)
 
IMETHOD bool Equal (const Rotation &, const RotationVel &, double=epsilon)
 
IMETHOD bool Equal (const RotationVel &, const Rotation &, double=epsilon)
 
IMETHOD bool Equal (const FrameVel &, const FrameVel &, double=epsilon)
 
IMETHOD bool Equal (const Frame &, const FrameVel &, double=epsilon)
 
IMETHOD bool Equal (const FrameVel &, const Frame &, double=epsilon)
 
IMETHOD bool Equal (const TwistVel &, const TwistVel &, double=epsilon)
 
IMETHOD bool Equal (const Twist &, const TwistVel &, double=epsilon)
 
IMETHOD bool Equal (const TwistVel &, const Twist &, double=epsilon)
 
IMETHOD VectorVel diff (const VectorVel &a, const VectorVel &b, double dt=1.0)
 
IMETHOD VectorVel addDelta (const VectorVel &a, const VectorVel &da, double dt=1.0)
 
IMETHOD VectorVel diff (const RotationVel &a, const RotationVel &b, double dt=1.0)
 
IMETHOD RotationVel addDelta (const RotationVel &a, const VectorVel &da, double dt=1.0)
 
IMETHOD TwistVel diff (const FrameVel &a, const FrameVel &b, double dt=1.0)
 
IMETHOD FrameVel addDelta (const FrameVel &a, const TwistVel &da, double dt=1.0)
 
IMETHOD void random (VectorVel &a)
 
IMETHOD void random (TwistVel &a)
 
IMETHOD void random (RotationVel &R)
 
IMETHOD void random (FrameVel &F)
 
IMETHOD void posrandom (VectorVel &a)
 
IMETHOD void posrandom (TwistVel &a)
 
IMETHOD void posrandom (RotationVel &R)
 
IMETHOD void posrandom (FrameVel &F)
 
void SetToZero (Jacobian &jac)
 
void changeRefPoint (const Jacobian &src1, const Vector &base_AB, Jacobian &dest)
 
void changeBase (const Jacobian &src1, const Rotation &rot, Jacobian &dest)
 
void changeRefFrame (const Jacobian &src1, const Frame &frame, Jacobian &dest)
 
bool Equal (const Jacobian &a, const Jacobian &b, double eps)
 
void Add (const JntArray &src1, const JntArray &src2, JntArray &dest)
 
void Subtract (const JntArray &src1, const JntArray &src2, JntArray &dest)
 
void Multiply (const JntArray &src, const double &factor, JntArray &dest)
 
void Divide (const JntArray &src, const double &factor, JntArray &dest)
 
void MultiplyJacobian (const Jacobian &jac, const JntArray &src, Twist &dest)
 
void SetToZero (JntArray &array)
 
bool Equal (const JntArray &src1, const JntArray &src2, double eps)
 
bool operator== (const JntArray &src1, const JntArray &src2)
 
void Add (const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
 
void Add (const JntArrayAcc &src1, const JntArrayVel &src2, JntArrayAcc &dest)
 
void Add (const JntArrayAcc &src1, const JntArray &src2, JntArrayAcc &dest)
 
void Subtract (const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest)
 
void Subtract (const JntArrayAcc &src1, const JntArrayVel &src2, JntArrayAcc &dest)
 
void Subtract (const JntArrayAcc &src1, const JntArray &src2, JntArrayAcc &dest)
 
void Multiply (const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
 
void Multiply (const JntArrayAcc &src, const doubleVel &factor, JntArrayAcc &dest)
 
void Multiply (const JntArrayAcc &src, const doubleAcc &factor, JntArrayAcc &dest)
 
void Divide (const JntArrayAcc &src, const double &factor, JntArrayAcc &dest)
 
void Divide (const JntArrayAcc &src, const doubleVel &factor, JntArrayAcc &dest)
 
void Divide (const JntArrayAcc &src, const doubleAcc &factor, JntArrayAcc &dest)
 
void SetToZero (JntArrayAcc &array)
 
bool Equal (const JntArrayAcc &src1, const JntArrayAcc &src2, double eps)
 
void Add (const JntArrayVel &src1, const JntArrayVel &src2, JntArrayVel &dest)
 
void Add (const JntArrayVel &src1, const JntArray &src2, JntArrayVel &dest)
 
void Subtract (const JntArrayVel &src1, const JntArrayVel &src2, JntArrayVel &dest)
 
void Subtract (const JntArrayVel &src1, const JntArray &src2, JntArrayVel &dest)
 
void Multiply (const JntArrayVel &src, const double &factor, JntArrayVel &dest)
 
void Multiply (const JntArrayVel &src, const doubleVel &factor, JntArrayVel &dest)
 
void Divide (const JntArrayVel &src, const double &factor, JntArrayVel &dest)
 
void Divide (const JntArrayVel &src, const doubleVel &factor, JntArrayVel &dest)
 
void SetToZero (JntArrayVel &array)
 
bool Equal (const JntArrayVel &src1, const JntArrayVel &src2, double eps)
 
std::ostream & operator<< (std::ostream &os, const Joint &joint)
 
std::istream & operator>> (std::istream &is, Joint &joint)
 
std::ostream & operator<< (std::ostream &os, const Segment &segment)
 
std::istream & operator>> (std::istream &is, Segment &segment)
 
std::ostream & operator<< (std::ostream &os, const Chain &chain)
 
std::istream & operator>> (std::istream &is, Chain &chain)
 
std::ostream & operator<< (std::ostream &os, const Tree &tree)
 
std::ostream & operator<< (std::ostream &os, SegmentMap::const_iterator root)
 
std::istream & operator>> (std::istream &is, Tree &tree)
 
std::ostream & operator<< (std::ostream &os, const JntArray &array)
 
std::istream & operator>> (std::istream &is, JntArray &array)
 
std::ostream & operator<< (std::ostream &os, const Jacobian &jac)
 
std::istream & operator>> (std::istream &is, Jacobian &jac)
 
template<typename T >
std::ostream & operator<< (std::ostream &os, const std::vector< T > &vec)
 
template<typename T >
std::istream & operator>> (std::istream &is, std::vector< T > &vec)
 
void IOTrace (const std::string &description)
 
void IOTracePop ()
 pops a description of the IO-stack More...
 
void IOTraceOutput (std::ostream &os)
 outputs the IO-stack to a stream to provide a better errormessage. More...
 
void IOTracePopStr (char *buffer, int size)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator/ (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator* (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator+ (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator- (const Rall1d< T, V, S > &lhs, const Rall1d< T, V, S > &rhs)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator- (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator* (S s, const Rall1d< T, V, S > &v)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator* (const Rall1d< T, V, S > &v, S s)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator+ (S s, const Rall1d< T, V, S > &v)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator+ (const Rall1d< T, V, S > &v, S s)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator- (S s, const Rall1d< T, V, S > &v)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator- (const Rall1d< T, V, S > &v, S s)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator/ (S s, const Rall1d< T, V, S > &v)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > operator/ (const Rall1d< T, V, S > &v, S s)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > exp (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > log (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > sin (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > cos (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > tan (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > sinh (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > cosh (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > sqr (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > pow (const Rall1d< T, V, S > &arg, double m)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > sqrt (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > atan (const Rall1d< T, V, S > &x)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > hypot (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > asin (const Rall1d< T, V, S > &x)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > acos (const Rall1d< T, V, S > &x)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > abs (const Rall1d< T, V, S > &x)
 
template<class T , class V , class S >
INLINENorm (const Rall1d< T, V, S > &value)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > tanh (const Rall1d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > atan2 (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
 
template<class T , class V , class S >
INLINE Rall1d< T, V, S > LinComb (S alfa, const Rall1d< T, V, S > &a, const T &beta, const Rall1d< T, V, S > &b)
 
template<class T , class V , class S >
INLINE void LinCombR (S alfa, const Rall1d< T, V, S > &a, const T &beta, const Rall1d< T, V, S > &b, Rall1d< T, V, S > &result)
 
template<class T , class V , class S >
INLINE void SetToZero (Rall1d< T, V, S > &value)
 
template<class T , class V , class S >
INLINE void SetToIdentity (Rall1d< T, V, S > &value)
 
template<class T , class V , class S >
INLINE bool Equal (const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x, double eps=epsilon)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator/ (const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator* (const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator+ (const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator- (const Rall2d< T, V, S > &lhs, const Rall2d< T, V, S > &rhs)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator- (const Rall2d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator* (S s, const Rall2d< T, V, S > &v)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator* (const Rall2d< T, V, S > &v, S s)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator+ (S s, const Rall2d< T, V, S > &v)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator+ (const Rall2d< T, V, S > &v, S s)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator- (S s, const Rall2d< T, V, S > &v)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator- (const Rall2d< T, V, S > &v, S s)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator/ (S s, const Rall2d< T, V, S > &rhs)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > operator/ (const Rall2d< T, V, S > &v, S s)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > exp (const Rall2d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > log (const Rall2d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > sin (const Rall2d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > cos (const Rall2d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > tan (const Rall2d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > sinh (const Rall2d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > cosh (const Rall2d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > tanh (const Rall2d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > sqr (const Rall2d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > pow (const Rall2d< T, V, S > &arg, double m)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > sqrt (const Rall2d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > asin (const Rall2d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > acos (const Rall2d< T, V, S > &arg)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > atan (const Rall2d< T, V, S > &x)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > atan2 (const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > abs (const Rall2d< T, V, S > &x)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > hypot (const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x)
 
template<class T , class V , class S >
INLINENorm (const Rall2d< T, V, S > &value)
 
template<class T , class V , class S >
INLINE Rall2d< T, V, S > LinComb (S alfa, const Rall2d< T, V, S > &a, const T &beta, const Rall2d< T, V, S > &b)
 
template<class T , class V , class S >
INLINE void LinCombR (S alfa, const Rall2d< T, V, S > &a, const T &beta, const Rall2d< T, V, S > &b, Rall2d< T, V, S > &result)
 
template<class T , class V , class S >
INLINE void SetToZero (Rall2d< T, V, S > &value)
 
template<class T , class V , class S >
INLINE void SetToIdentity (Rall2d< T, V, S > &value)
 
template<class T , class V , class S >
INLINE bool Equal (const Rall2d< T, V, S > &y, const Rall2d< T, V, S > &x, double eps=epsilon)
 
template<typename Scalar >
Scalar PYTHAG (Scalar a, Scalar b)
 
template<typename Scalar >
Scalar SIGN (Scalar a, Scalar b)
 
template<typename MatrixA , typename MatrixUV , typename VectorS >
int svd_eigen_HH (const Eigen::MatrixBase< MatrixA > &A, Eigen::MatrixBase< MatrixUV > &U, Eigen::MatrixBase< VectorS > &S, Eigen::MatrixBase< MatrixUV > &V, Eigen::MatrixBase< VectorS > &tmp, int maxiter=150)
 
double sin (double a)
 
double cos (double a)
 
double exp (double a)
 
double log (double a)
 
double tan (double a)
 
double cosh (double a)
 
double sinh (double a)
 
double sqrt (double a)
 
double atan (double a)
 
double acos (double a)
 
double asin (double a)
 
double tanh (double a)
 
double pow (double a, double b)
 
double atan2 (double a, double b)
 
double max (double a, double b)
 
double min (double a, double b)
 
double LinComb (double alfa, double a, double beta, double b)
 
void LinCombR (double alfa, double a, double beta, double b, double &result)
 
void SetToZero (double &arg)
 to uniformly set double, RNDouble,Vector,... objects to zero in template-classes More...
 
void SetToIdentity (double &arg)
 to uniformly set double, RNDouble,Vector,... objects to the identity element in template-classes More...
 
double sign (double arg)
 
double sqr (double arg)
 
double Norm (double arg)
 
bool Equal (double a, double b, double eps=epsilon)
 
void random (double &a)
 
void posrandom (double &a)
 
double diff (double a, double b, double dt)
 
double addDelta (double a, double da, double dt)
 
void _check_istream (std::istream &is)
 
static int _EatUntilEndOfLine (std::istream &is, int *countp=NULL)
 
static int _EatUntilEndOfComment (std::istream &is, int *countp=NULL)
 
static int _EatSpace (std::istream &is, int *countp=NULL)
 
void Eat (std::istream &is, int delim)
 
void EatEnd (std::istream &is, int delim)
 
char Upper (char ch)
 
void Eat (std::istream &is, const char *descript)
 
void EatWord (std::istream &is, const char *delim, char *storage, int maxsize)
 

Variables

ErrorStack errorstack
 
int STREAMBUFFERSIZE =10000
 
int MAXLENFILENAME = 255
 maximal length of a file name More...
 
const double PI = 3.1415926535897932384626433832795
 the value of pi More...
 
const double deg2rad = 0.01745329251994329576923690768488
 the value pi/180 More...
 
const double rad2deg = 57.2957795130823208767981548141052
 the value 180/pi More...
 
double epsilon = 0.000001
 default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001. More...
 
double epsilon2 = 0.000001*0.000001
 power or 2 of epsilon More...
 
int VSIZE
 the number of derivatives used in the RN-... objects. More...
 

Typedef Documentation

◆ doubleAcc

Definition at line 39 of file frameacc.hpp.

◆ doubleVel

Definition at line 34 of file framevel.hpp.

◆ ErrorStack

typedef std::stack<std::string> KDL::ErrorStack

Definition at line 28 of file error_stack.cpp.

◆ SegmentMap

typedef std::map<std::string,TreeElement, std::less<std::string>, Eigen::aligned_allocator<std::pair<const std::string, TreeElement> > > KDL::SegmentMap

Definition at line 37 of file tree.hpp.

Function Documentation

◆ _check_istream()

void KDL::_check_istream ( std::istream &  is)

checks validity of basic io of is

Definition at line 33 of file utility_io.cpp.

Referenced by _EatSpace(), _EatUntilEndOfComment(), _EatUntilEndOfLine(), and EatWord().

◆ _EatSpace()

static int KDL::_EatSpace ( std::istream &  is,
int *  countp = NULL 
)
static

Definition at line 77 of file utility_io.cpp.

References _check_istream(), _EatUntilEndOfComment(), _EatUntilEndOfLine(), count, and NULL.

Referenced by Eat(), EatEnd(), and EatWord().

◆ _EatUntilEndOfComment()

static int KDL::_EatUntilEndOfComment ( std::istream &  is,
int *  countp = NULL 
)
static

Definition at line 55 of file utility_io.cpp.

References _check_istream(), count, and NULL.

Referenced by _EatSpace().

◆ _EatUntilEndOfLine()

static int KDL::_EatUntilEndOfLine ( std::istream &  is,
int *  countp = NULL 
)
static

Definition at line 41 of file utility_io.cpp.

References _check_istream(), count, and NULL.

Referenced by _EatSpace().

◆ abs() [1/2]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::abs ( const Rall1d< T, V, S > &  x)

Definition at line 407 of file rall1d.h.

References Sign(), T, v, and x.

◆ abs() [2/2]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::abs ( const Rall2d< T, V, S > &  x)

Definition at line 463 of file rall2d.h.

References Sign(), T, v, and x.

◆ acos() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::acos ( const Rall1d< T, V, S > &  x)

◆ acos() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::acos ( const Rall2d< T, V, S > &  arg)

◆ acos() [3/3]

double KDL::acos ( double  a)
inline

Definition at line 115 of file utility.h.

References Freestyle::a.

◆ Add() [1/6]

void KDL::Add ( const JntArray src1,
const JntArray src2,
JntArray dest 
)

Function to add two joint arrays, all the arguments must have the same size: A + B = C. This function is aliasing-safe, A or B can be the same array as C.

Parameters
src1A
src2B
destC

Definition at line 103 of file jntarray.cpp.

◆ Add() [2/6]

void KDL::Add ( const JntArrayAcc src1,
const JntArray src2,
JntArrayAcc dest 
)

Definition at line 74 of file jntarrayacc.cpp.

◆ Add() [3/6]

void KDL::Add ( const JntArrayAcc src1,
const JntArrayAcc src2,
JntArrayAcc dest 
)

Definition at line 62 of file jntarrayacc.cpp.

◆ Add() [4/6]

void KDL::Add ( const JntArrayAcc src1,
const JntArrayVel src2,
JntArrayAcc dest 
)

Definition at line 68 of file jntarrayacc.cpp.

◆ Add() [5/6]

void KDL::Add ( const JntArrayVel src1,
const JntArray src2,
JntArrayVel dest 
)

Definition at line 59 of file jntarrayvel.cpp.

◆ Add() [6/6]

void KDL::Add ( const JntArrayVel src1,
const JntArrayVel src2,
JntArrayVel dest 
)

Definition at line 54 of file jntarrayvel.cpp.

◆ addDelta() [1/10]

IMETHOD doubleVel KDL::addDelta ( const doubleVel a,
const doubleVel da,
double  dt = 1.0 
)

◆ addDelta() [2/10]

IMETHOD Frame KDL::addDelta ( const Frame a,
const Twist da,
double  dt = 1 
)

◆ addDelta() [3/10]

IMETHOD FrameVel KDL::addDelta ( const FrameVel a,
const TwistVel da,
double  dt = 1.0 
)

Definition at line 339 of file framevel.hpp.

References Freestyle::a, addDelta(), KDL::TwistVel::rot, and KDL::TwistVel::vel.

◆ addDelta() [4/10]

IMETHOD Rotation KDL::addDelta ( const Rotation a,
const Vector da,
double  dt = 1 
)

◆ addDelta() [5/10]

IMETHOD RotationVel KDL::addDelta ( const RotationVel a,
const VectorVel da,
double  dt = 1.0 
)

Definition at line 331 of file framevel.hpp.

References Freestyle::a, addDelta(), KDL::VectorVel::p, and KDL::VectorVel::v.

◆ addDelta() [6/10]

IMETHOD Twist KDL::addDelta ( const Twist a,
const Twist da,
double  dt = 1 
)

◆ addDelta() [7/10]

IMETHOD Vector KDL::addDelta ( const Vector a,
const Vector da,
double  dt = 1 
)

Referenced by addDelta(), and addDelta().

◆ addDelta() [8/10]

IMETHOD VectorVel KDL::addDelta ( const VectorVel a,
const VectorVel da,
double  dt = 1.0 
)

Definition at line 324 of file framevel.hpp.

References Freestyle::a, addDelta(), KDL::VectorVel::p, and KDL::VectorVel::v.

◆ addDelta() [9/10]

IMETHOD Wrench KDL::addDelta ( const Wrench a,
const Wrench da,
double  dt = 1 
)

◆ addDelta() [10/10]

double KDL::addDelta ( double  a,
double  da,
double  dt 
)
inline

Definition at line 288 of file utility.h.

References Freestyle::a.

◆ asin() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::asin ( const Rall1d< T, V, S > &  x)

◆ asin() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::asin ( const Rall2d< T, V, S > &  arg)

◆ asin() [3/3]

double KDL::asin ( double  a)
inline

Definition at line 118 of file utility.h.

References Freestyle::a.

◆ atan() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::atan ( const Rall1d< T, V, S > &  x)

◆ atan() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::atan ( const Rall2d< T, V, S > &  x)

◆ atan() [3/3]

double KDL::atan ( double  a)
inline

Definition at line 112 of file utility.h.

References Freestyle::a.

◆ atan2() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::atan2 ( const Rall1d< T, V, S > &  y,
const Rall1d< T, V, S > &  x 
)

◆ atan2() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::atan2 ( const Rall2d< T, V, S > &  y,
const Rall2d< T, V, S > &  x 
)

◆ atan2() [3/3]

double KDL::atan2 ( double  a,
double  b 
)
inline

Definition at line 127 of file utility.h.

References Freestyle::a, and usdtokens::b().

◆ changeBase()

void KDL::changeBase ( const Jacobian src1,
const Rotation rot,
Jacobian dest 
)

◆ changeRefFrame()

void KDL::changeRefFrame ( const Jacobian src1,
const Frame frame,
Jacobian dest 
)

Definition at line 103 of file jacobian.cpp.

◆ changeRefPoint()

void KDL::changeRefPoint ( const Jacobian src1,
const Vector base_AB,
Jacobian dest 
)

◆ cos() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::cos ( const Rall1d< T, V, S > &  arg)

Definition at line 319 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, sin(), KDL::Rall1d< T, V, S >::t, T, and v.

Referenced by ArHosekSkyModel_GetRadianceInternal(), asin(), barycentric_weights_v2_grid_cache(), base_callback(), bend_angle(), BKE_bmbvh_new_ex(), BKE_camera_view_frame_fit_to_coords(), BKE_curve_nurbs_key_vert_coords_alloc(), BKE_maskrasterize_handle_init(), BKE_mesh_mirror_apply_mirror_on_axis_for_modifier(), BM_face_split_n(), bm_face_split_walk_back(), BM_mesh_intersect(), bmbvh_tri_from_face(), bmo_smooth_vert_exec(), blender::nodes::calculate_cone_uvs(), blender::nodes::calculate_cone_vertices(), blender::nodes::node_geo_mesh_primitive_uv_sphere_cc::calculate_sphere_vertex_data(), cloth_calc_helper_forces(), cloth_spring_angle(), Freestyle::SteerableViewMap::ComputeWeight(), cos(), blender::nodes::node_geo_curve_primitive_arc_cc::create_arc_curve_from_radius(), blender::nodes::node_geo_mesh_primitive_circle_cc::create_circle_mesh(), blender::nodes::node_geo_curve_primitive_circle_cc::create_point_circle_curve(), blender::nodes::node_geo_curve_primitive_circle_cc::create_radius_circle_curve(), blender::nodes::node_geo_curve_primitive_spiral_cc::create_spiral_curve(), blender::nodes::node_geo_curve_primitive_star_cc::create_star_curve(), blender::io::alembic::create_swapped_rotation_matrix(), KDL::Frame::DH(), KDL::Frame::DH_Craig1989(), diagonalize(), KDL::Rotation::DoRotX(), KDL::Rotation::DoRotY(), KDL::Rotation::DoRotZ(), libmv::DrawEllipse(), editbmesh_vert_coords_alloc(), blender::compositor::RotateOperation::ensure_degree(), eul_to_mat3(), eul_to_mat4(), euler_to_mat(), KDL::Rotation::EulerZYZ(), eulO_to_mat3(), eulO_to_quat(), blender::compositor::MathCosineOperation::execute_pixel_sampled(), extrawindow_spin_cursor(), fcm_fn_generator_evaluate(), blender::compositor::FHT(), find_even_superellipse_chords(), fresnel_dielectric(), blender::float3x3::from_rotation(), blender::float3x3::from_translation_rotation_scale(), gearGL(), blender::compositor::GlareStreaksOperation::generate_glare(), GHOST_Wintab::getInput(), gpencil_brush_angle(), gpencil_brush_angle_segment(), gpencil_brush_grab_calc_dvec(), gpencil_brush_jitter(), gpencil_calc_stroke_fill_uv(), gpencil_vfx_blur(), gpencil_vfx_glow(), blender::compositor::TransformOperation::init_data(), blender::compositor::BoxMaskOperation::init_execution(), blender::compositor::EllipseMaskOperation::init_execution(), join_mesh_single(), knife_bm_tri_cagecos_get(), knife_bm_tri_cagecos_get_worldspace(), layer_bucket_depth_from_xy(), layer_bucket_init(), layer_bucket_isect_test(), lineart_create_render_buffer(), maskrasterize_layer_isect(), mesh_calc_eigen_matrix(), MOD_get_texture_coords(), Freestyle::NodePerspectiveCamera::NodePerspectiveCamera(), normalEditModifier_do_directional(), normalEditModifier_do_radial(), libmv::NRealisticCamerasFull(), libmv::NRealisticCamerasSparse(), blender::ed::curves::primitive_random_sphere(), Rot(), KDL::Rotation::Rot(), KDL::Rotation2::Rot(), KDL::Rotation::Rot2(), Freestyle::NodeTransform::Rotate(), rotate_direction_around_axis(), blender::math::rotate_direction_around_axis(), libmv::RotationFromEulerVector(), RotationMatrix(), libmv::RotationRodrigues(), KDL::Rotation::RotX(), KDL::Rotation::RotY(), KDL::Rotation::RotZ(), KDL::Rotation::RPY(), sabin_gamma(), blender::bke::mesh_surface_sample::sample_surface_points_projected(), blender::bke::mesh_surface_sample::sample_surface_points_spherical(), Freestyle::OGF::MatrixUtil::semi_definite_symmetric_eigen(), Freestyle::FEdgeXDetector::setCreaseAngle(), KDL::Rotation2::SetRot(), shapekey_layers_to_keyblocks(), sin(), solve_cubic(), libmv::SolveCubicPolynomial(), SolveP3(), blender::draw::statvis_calc_thickness(), Freestyle::SteerableViewMap::SteerableViewMap(), tan(), blender::compositor::MathCosineOperation::update_memory_buffer_partial(), IK_QSphericalSegment::UpdateAngle(), IK_QSwingSegment::UpdateAngle(), and IK_QElbowSegment::UpdateAngleApply().

◆ cos() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::cos ( const Rall2d< T, V, S > &  arg)

◆ cos() [3/3]

double KDL::cos ( double  a)
inline

Definition at line 91 of file utility.h.

References Freestyle::a.

◆ cosh() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::cosh ( const Rall1d< T, V, S > &  arg)

◆ cosh() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::cosh ( const Rall2d< T, V, S > &  arg)

◆ cosh() [3/3]

double KDL::cosh ( double  a)
inline

Definition at line 103 of file utility.h.

References Freestyle::a.

◆ diff() [1/10]

IMETHOD doubleVel KDL::diff ( const doubleVel a,
const doubleVel b,
double  dt = 1.0 
)

Definition at line 36 of file framevel.hpp.

References Freestyle::a, and usdtokens::b().

◆ diff() [2/10]

IMETHOD Twist KDL::diff ( const Frame F_a_b1,
const Frame F_a_b2,
double  dt = 1 
)

◆ diff() [3/10]

IMETHOD TwistVel KDL::diff ( const FrameVel a,
const FrameVel b,
double  dt = 1.0 
)

Definition at line 335 of file framevel.hpp.

References Freestyle::a, usdtokens::b(), and diff().

◆ diff() [4/10]

IMETHOD Vector KDL::diff ( const Rotation R_a_b1,
const Rotation R_a_b2,
double  dt = 1 
)

◆ diff() [5/10]

IMETHOD VectorVel KDL::diff ( const RotationVel a,
const RotationVel b,
double  dt = 1.0 
)

Definition at line 327 of file framevel.hpp.

References Freestyle::a, usdtokens::b(), and diff().

◆ diff() [6/10]

IMETHOD Twist KDL::diff ( const Twist a,
const Twist b,
double  dt = 1 
)

◆ diff() [7/10]

IMETHOD Vector KDL::diff ( const Vector a,
const Vector b,
double  dt = 1 
)

Referenced by calc_min_radius_v3v3(), iTaSC::ConstraintSet::closeLoop(), GIM_AABB::collide_triangle_exact(), collide_triangle_exact(), btMultiBodyGearConstraint::createConstraintRows(), cullPoints2(), diff(), diff(), EXPP_FloatsAreEqual(), btQuaternion::farthest(), fcm_envelope_evaluate(), fix_connected_bone(), generate_vert_coordinates(), iTaSC::CopyPose::getControlParameters(), iTaSC::Armature::getMaxEndEffectorChange(), gpencil_frame_mirror_cframe(), gpencil_frame_mirror_marker(), gpencil_frame_mirror_xaxis(), gpencil_frame_mirror_yaxis(), HC_relaxation_iteration_uv(), laplacian_relaxation_iteration_uv(), lattice_flip_point_value(), mirror_bezier_xaxis_ex(), mirror_bezier_yaxis_ex(), btQuaternion::nearest(), nearest_world_tree_co(), paintcurve_slide_modal(), btSphereSphereCollisionAlgorithm::processCollision(), quad_calc_error(), rect_light_sample(), RNA_def_property_override_funcs(), rna_property_override_diff(), RNA_struct_override_matches(), rotate_direction_around_axis(), blender::math::rotate_direction_around_axis(), SegmentSqrDistance(), sequencer_slip_apply_limits(), sequencer_thumbnail_closest_previous_frame_get(), set_fcurve_vertex_color(), btSoftBody::setLinearVelocity(), btSolveProjectedGaussSeidel::solveMLCP(), state_isect_co_exact(), studiolight_lights_eval(), blender::nodes::node_geo_scale_elements_cc::transform_with_uniform_scale(), ui_view2d_curRect_validate_resize(), uilist_resize_update_cb(), GHOST_NDOFManager::updateButtons(), updateClosestVectorAndPoints(), iTaSC::CopyPose::updateControlOutput(), iTaSC::MovingFrame::updateCoordinates(), uv_sculpt_stroke_apply(), uv_sculpt_stroke_init(), and viewAxisCorrectCenter().

◆ diff() [8/10]

IMETHOD VectorVel KDL::diff ( const VectorVel a,
const VectorVel b,
double  dt = 1.0 
)

Definition at line 320 of file framevel.hpp.

References Freestyle::a, usdtokens::b(), and diff().

◆ diff() [9/10]

IMETHOD Wrench KDL::diff ( const Wrench W_a_p1,
const Wrench W_a_p2,
double  dt = 1 
)

◆ diff() [10/10]

double KDL::diff ( double  a,
double  b,
double  dt 
)
inline

Definition at line 282 of file utility.h.

References Freestyle::a, and usdtokens::b().

◆ Divide() [1/6]

void KDL::Divide ( const JntArray src,
const double factor,
JntArray dest 
)

Function to divide all the array values with a scalar factor: A/b=C. This function is aliasing-safe, A can be the same array as C.

Parameters
srcA
factorb
destC

Definition at line 124 of file jntarray.cpp.

◆ Divide() [2/6]

void KDL::Divide ( const JntArrayAcc src,
const double factor,
JntArrayAcc dest 
)

Definition at line 129 of file jntarrayacc.cpp.

◆ Divide() [3/6]

void KDL::Divide ( const JntArrayAcc src,
const doubleAcc factor,
JntArrayAcc dest 
)

Definition at line 147 of file jntarrayacc.cpp.

◆ Divide() [4/6]

void KDL::Divide ( const JntArrayAcc src,
const doubleVel factor,
JntArrayAcc dest 
)

Definition at line 135 of file jntarrayacc.cpp.

◆ Divide() [5/6]

void KDL::Divide ( const JntArrayVel src,
const double factor,
JntArrayVel dest 
)

Definition at line 89 of file jntarrayvel.cpp.

◆ Divide() [6/6]

void KDL::Divide ( const JntArrayVel src,
const doubleVel factor,
JntArrayVel dest 
)

Definition at line 94 of file jntarrayvel.cpp.

◆ Eat() [1/2]

void KDL::Eat ( std::istream &  is,
const char *  descript 
)

Eats characters of the stream as long as they satisfy the description in descript

Parameters
isa stream
descriptdescription string. A sequence of spaces, tabs, new-lines and comments is regarded as 1 space in the description string.

Definition at line 152 of file utility_io.cpp.

References _EatSpace(), count, and Upper().

◆ Eat() [2/2]

void KDL::Eat ( std::istream &  is,
int  delim 
)

Eats characters of the stream until the character delim is encountered

Parameters
isa stream
delimeat until this character is encountered

Definition at line 109 of file utility_io.cpp.

References _EatSpace().

Referenced by operator>>().

◆ EatEnd()

void KDL::EatEnd ( std::istream &  is,
int  delim 
)

Eats characters of the stream until the character delim is encountered similar to Eat(is,delim) but spaces at the end are not read.

Parameters
isa stream
delimeat until this character is encountered

Definition at line 123 of file utility_io.cpp.

References _EatSpace().

Referenced by operator>>().

◆ EatWord()

void KDL::EatWord ( std::istream &  is,
const char *  delim,
char *  storage,
int  maxsize 
)

Eats a word of the stream delimited by the letters in delim or space(tabs...)

Parameters
isa stream
delima string containing the delimmiting characters
storagefor returning the word
maxsizea word can be maximally maxsize-1 long.

Definition at line 183 of file utility_io.cpp.

References _check_istream(), _EatSpace(), count, NULL, and size().

Referenced by operator>>().

◆ Equal() [1/39]

bool KDL::Equal ( const Frame ,
const Frame ,
double  = epsilon 
)
inline

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

◆ Equal() [2/39]

IMETHOD bool KDL::Equal ( const Frame ,
const FrameAcc ,
double  = epsilon 
)

◆ Equal() [3/39]

IMETHOD bool KDL::Equal ( const Frame ,
const FrameVel ,
double  = epsilon 
)

◆ Equal() [4/39]

bool KDL::Equal ( const Frame2 ,
const Frame2 ,
double  = epsilon 
)
inline

◆ Equal() [5/39]

IMETHOD bool KDL::Equal ( const FrameAcc ,
const Frame ,
double  = epsilon 
)

◆ Equal() [6/39]

IMETHOD bool KDL::Equal ( const FrameAcc ,
const FrameAcc ,
double  = epsilon 
)

◆ Equal() [7/39]

IMETHOD bool KDL::Equal ( const FrameVel ,
const Frame ,
double  = epsilon 
)

◆ Equal() [8/39]

IMETHOD bool KDL::Equal ( const FrameVel ,
const FrameVel ,
double  = epsilon 
)

◆ Equal() [9/39]

bool KDL::Equal ( const Jacobian a,
const Jacobian b,
double  eps 
)

Definition at line 121 of file jacobian.cpp.

◆ Equal() [10/39]

bool KDL::Equal ( const JntArray src1,
const JntArray src2,
double  eps 
)

Function to check if two arrays are the same with a precision of eps

Parameters
src1
src2
epsdefault: epsilon
Returns
true if each element of src1 is within eps of the same element in src2, or if both src1 and src2 have no data (ie 0==rows())

Definition at line 146 of file jntarray.cpp.

◆ Equal() [11/39]

bool KDL::Equal ( const JntArrayAcc src1,
const JntArrayAcc src2,
double  eps 
)

Definition at line 167 of file jntarrayacc.cpp.

◆ Equal() [12/39]

bool KDL::Equal ( const JntArrayVel src1,
const JntArrayVel src2,
double  eps 
)

Definition at line 108 of file jntarrayvel.cpp.

◆ Equal() [13/39]

template<class T , class V , class S >
INLINE bool KDL::Equal ( const Rall1d< T, V, S > &  y,
const Rall1d< T, V, S > &  x,
double  eps = epsilon 
)

Definition at line 467 of file rall1d.h.

References eps, Equal(), x, and y.

◆ Equal() [14/39]

template<class T , class V , class S >
INLINE bool KDL::Equal ( const Rall2d< T, V, S > &  y,
const Rall2d< T, V, S > &  x,
double  eps = epsilon 
)

Definition at line 524 of file rall2d.h.

References eps, Equal(), x, and y.

◆ Equal() [15/39]

IMETHOD bool KDL::Equal ( const Rotation ,
const RotationAcc ,
double  = epsilon 
)

◆ Equal() [16/39]

IMETHOD bool KDL::Equal ( const Rotation ,
const RotationVel ,
double  = epsilon 
)

◆ Equal() [17/39]

bool KDL::Equal ( const Rotation a,
const Rotation b,
double  eps 
)

Definition at line 157 of file frames.cpp.

References Freestyle::a, usdtokens::b(), eps, and Equal().

◆ Equal() [18/39]

bool KDL::Equal ( const Rotation2 ,
const Rotation2 ,
double  = epsilon 
)
inline

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

◆ Equal() [19/39]

IMETHOD bool KDL::Equal ( const RotationAcc ,
const Rotation ,
double  = epsilon 
)

◆ Equal() [20/39]

IMETHOD bool KDL::Equal ( const RotationAcc ,
const RotationAcc ,
double  = epsilon 
)

◆ Equal() [21/39]

IMETHOD bool KDL::Equal ( const RotationVel ,
const Rotation ,
double  = epsilon 
)

◆ Equal() [22/39]

IMETHOD bool KDL::Equal ( const RotationVel ,
const RotationVel ,
double  = epsilon 
)

◆ Equal() [23/39]

bool KDL::Equal ( const Twist ,
const Twist ,
double  = epsilon 
)
inline

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

◆ Equal() [24/39]

IMETHOD bool KDL::Equal ( const Twist ,
const TwistAcc ,
double  = epsilon 
)

◆ Equal() [25/39]

IMETHOD bool KDL::Equal ( const Twist ,
const TwistVel ,
double  = epsilon 
)

◆ Equal() [26/39]

IMETHOD bool KDL::Equal ( const TwistAcc ,
const Twist ,
double  = epsilon 
)

◆ Equal() [27/39]

IMETHOD bool KDL::Equal ( const TwistAcc ,
const TwistAcc ,
double  = epsilon 
)

◆ Equal() [28/39]

IMETHOD bool KDL::Equal ( const TwistVel ,
const Twist ,
double  = epsilon 
)

◆ Equal() [29/39]

IMETHOD bool KDL::Equal ( const TwistVel ,
const TwistVel ,
double  = epsilon 
)

◆ Equal() [30/39]

bool KDL::Equal ( const Vector ,
const Vector ,
double  = epsilon 
)
inline

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

◆ Equal() [31/39]

IMETHOD bool KDL::Equal ( const Vector ,
const VectorAcc ,
double  = epsilon 
)

◆ Equal() [32/39]

IMETHOD bool KDL::Equal ( const Vector ,
const VectorVel ,
double  = epsilon 
)

◆ Equal() [33/39]

bool KDL::Equal ( const Vector2 ,
const Vector2 ,
double  = epsilon 
)
inline

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

◆ Equal() [34/39]

IMETHOD bool KDL::Equal ( const VectorAcc ,
const Vector ,
double  = epsilon 
)

◆ Equal() [35/39]

IMETHOD bool KDL::Equal ( const VectorAcc ,
const VectorAcc ,
double  = epsilon 
)

◆ Equal() [36/39]

IMETHOD bool KDL::Equal ( const VectorVel ,
const Vector ,
double  = epsilon 
)

◆ Equal() [37/39]

IMETHOD bool KDL::Equal ( const VectorVel ,
const VectorVel ,
double  = epsilon 
)

◆ Equal() [38/39]

bool KDL::Equal ( const Wrench ,
const Wrench ,
double  = epsilon 
)
inline

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

◆ Equal() [39/39]

bool KDL::Equal ( double  a,
double  b,
double  eps = epsilon 
)
inline

Definition at line 268 of file utility.h.

References Freestyle::a, usdtokens::b(), and eps.

◆ exp() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::exp ( const Rall1d< T, V, S > &  arg)

Definition at line 295 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, KDL::Rall1d< T, V, S >::t, T, and v.

Referenced by exp().

◆ exp() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::exp ( const Rall2d< T, V, S > &  arg)

◆ exp() [3/3]

double KDL::exp ( double  a)
inline

Definition at line 94 of file utility.h.

References Freestyle::a.

◆ hypot() [1/2]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::hypot ( const Rall1d< T, V, S > &  y,
const Rall1d< T, V, S > &  x 
)

Definition at line 383 of file rall1d.h.

References T, v, x, and y.

Referenced by check_zone(), Freestyle::distance2D(), hypot(), InputCustomRatioFlip(), and InputSpring().

◆ hypot() [2/2]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::hypot ( const Rall2d< T, V, S > &  y,
const Rall2d< T, V, S > &  x 
)

◆ IOTrace()

void KDL::IOTrace ( const std::string &  description)

Definition at line 34 of file error_stack.cpp.

References errorstack.

Referenced by operator>>().

◆ IOTraceOutput()

void KDL::IOTraceOutput ( std::ostream &  os)

outputs the IO-stack to a stream to provide a better errormessage.

Definition at line 43 of file error_stack.cpp.

References errorstack.

◆ IOTracePop()

void KDL::IOTracePop ( )

pops a description of the IO-stack

Definition at line 39 of file error_stack.cpp.

References errorstack.

Referenced by operator>>().

◆ IOTracePopStr()

void KDL::IOTracePopStr ( char *  buffer,
int  size 
)

outputs one element of the IO-stack to the buffer (maximally size chars) returns empty string if no elements on the stack.

Definition at line 51 of file error_stack.cpp.

References buffer, errorstack, and size().

◆ LinComb() [1/3]

double KDL::LinComb ( double  alfa,
double  a,
double  beta,
double  b 
)
inline

Definition at line 230 of file utility.h.

References Freestyle::a, usdtokens::b(), and beta().

◆ LinComb() [2/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::LinComb ( alfa,
const Rall1d< T, V, S > &  a,
const T beta,
const Rall1d< T, V, S > &  b 
)

Definition at line 437 of file rall1d.h.

References Freestyle::a, usdtokens::b(), and beta().

Referenced by LinComb(), and KDL::Rall1d< T, V, S >::operator/=().

◆ LinComb() [3/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::LinComb ( alfa,
const Rall2d< T, V, S > &  a,
const T beta,
const Rall2d< T, V, S > &  b 
)

Definition at line 490 of file rall2d.h.

References Freestyle::a, usdtokens::b(), beta(), and LinComb().

◆ LinCombR() [1/3]

void KDL::LinCombR ( double  alfa,
double  a,
double  beta,
double  b,
double result 
)
inline

Definition at line 235 of file utility.h.

References Freestyle::a, usdtokens::b(), beta(), and result.

◆ LinCombR() [2/3]

template<class T , class V , class S >
INLINE void KDL::LinCombR ( alfa,
const Rall1d< T, V, S > &  a,
const T beta,
const Rall1d< T, V, S > &  b,
Rall1d< T, V, S > &  result 
)

Definition at line 446 of file rall1d.h.

References Freestyle::a, usdtokens::b(), beta(), and result.

Referenced by LinCombR(), and KDL::Rall1d< T, V, S >::operator*=().

◆ LinCombR() [3/3]

template<class T , class V , class S >
INLINE void KDL::LinCombR ( alfa,
const Rall2d< T, V, S > &  a,
const T beta,
const Rall2d< T, V, S > &  b,
Rall2d< T, V, S > &  result 
)

Definition at line 500 of file rall2d.h.

References Freestyle::a, usdtokens::b(), beta(), LinCombR(), and result.

◆ log() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::log ( const Rall1d< T, V, S > &  arg)

Definition at line 303 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, KDL::Rall1d< T, V, S >::t, T, and v.

Referenced by log().

◆ log() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::log ( const Rall2d< T, V, S > &  arg)

◆ log() [3/3]

double KDL::log ( double  a)
inline

Definition at line 97 of file utility.h.

References Freestyle::a.

◆ max()

double KDL::max ( double  a,
double  b 
)
inline

Definition at line 203 of file utility.h.

References Freestyle::a, and usdtokens::b().

◆ min()

double KDL::min ( double  a,
double  b 
)
inline

Definition at line 211 of file utility.h.

References Freestyle::a, and usdtokens::b().

◆ Multiply() [1/6]

void KDL::Multiply ( const JntArray src,
const double factor,
JntArray dest 
)

Function to multiply all the array values with a scalar factor: A*b=C. This function is aliasing-safe, A can be the same array as C.

Parameters
srcA
factorb
destC

Definition at line 117 of file jntarray.cpp.

Referenced by gpencil_modifier_type_init().

◆ Multiply() [2/6]

void KDL::Multiply ( const JntArrayAcc src,
const double factor,
JntArrayAcc dest 
)

Definition at line 100 of file jntarrayacc.cpp.

◆ Multiply() [3/6]

void KDL::Multiply ( const JntArrayAcc src,
const doubleAcc factor,
JntArrayAcc dest 
)

Definition at line 116 of file jntarrayacc.cpp.

◆ Multiply() [4/6]

void KDL::Multiply ( const JntArrayAcc src,
const doubleVel factor,
JntArrayAcc dest 
)

Definition at line 106 of file jntarrayacc.cpp.

◆ Multiply() [5/6]

void KDL::Multiply ( const JntArrayVel src,
const double factor,
JntArrayVel dest 
)

Definition at line 76 of file jntarrayvel.cpp.

◆ Multiply() [6/6]

void KDL::Multiply ( const JntArrayVel src,
const doubleVel factor,
JntArrayVel dest 
)

Definition at line 81 of file jntarrayvel.cpp.

◆ MultiplyJacobian()

void KDL::MultiplyJacobian ( const Jacobian jac,
const JntArray src,
Twist dest 
)

Function to multiply a KDL::Jacobian with a KDL::JntArray to get a KDL::Twist, it should not be used to calculate the forward velocity kinematics, the solver classes are built for this purpose. J*q = t

Parameters
jacJ
srcq
destt
Postcondition
dest==Twist::Zero() if 0==src.rows() (ie src is empty)

Definition at line 131 of file jntarray.cpp.

◆ Norm() [1/3]

template<class T , class V , class S >
INLINE S KDL::Norm ( const Rall1d< T, V, S > &  value)

Definition at line 416 of file rall1d.h.

References KDL::Rall1d< T, V, S >::t.

Referenced by Norm(), and iTaSC::Distance::updateControlOutput().

◆ Norm() [2/3]

template<class T , class V , class S >
INLINE S KDL::Norm ( const Rall2d< T, V, S > &  value)

Definition at line 481 of file rall2d.h.

References Norm(), and KDL::Rall2d< T, V, S >::t.

◆ Norm() [3/3]

double KDL::Norm ( double  arg)
inline

Definition at line 255 of file utility.h.

References fabs().

◆ Normalize()

Vector KDL::Normalize ( const Vector ,
double  eps = epsilon 
)
inline

Referenced by base_callback().

◆ operator*() [1/7]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator* ( const Rall1d< T, V, S > &  lhs,
const Rall1d< T, V, S > &  rhs 
)

Definition at line 221 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

◆ operator*() [2/7]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator* ( const Rall1d< T, V, S > &  v,
s 
)

Definition at line 252 of file rall1d.h.

References v.

◆ operator*() [3/7]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator* ( const Rall2d< T, V, S > &  lhs,
const Rall2d< T, V, S > &  rhs 
)

◆ operator*() [4/7]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator* ( const Rall2d< T, V, S > &  v,
s 
)

Definition at line 268 of file rall2d.h.

References v.

◆ operator*() [5/7]

Rotation KDL::operator* ( const Rotation lhs,
const Rotation rhs 
)

Definition at line 177 of file frames.cpp.

◆ operator*() [6/7]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator* ( s,
const Rall1d< T, V, S > &  v 
)

Definition at line 246 of file rall1d.h.

References v.

◆ operator*() [7/7]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator* ( s,
const Rall2d< T, V, S > &  v 
)

Definition at line 262 of file rall2d.h.

References v.

◆ operator+() [1/6]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator+ ( const Rall1d< T, V, S > &  lhs,
const Rall1d< T, V, S > &  rhs 
)

Definition at line 227 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

◆ operator+() [2/6]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator+ ( const Rall1d< T, V, S > &  v,
s 
)

Definition at line 264 of file rall1d.h.

References v.

◆ operator+() [3/6]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator+ ( const Rall2d< T, V, S > &  lhs,
const Rall2d< T, V, S > &  rhs 
)

◆ operator+() [4/6]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator+ ( const Rall2d< T, V, S > &  v,
s 
)

Definition at line 280 of file rall2d.h.

References v.

◆ operator+() [5/6]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator+ ( s,
const Rall1d< T, V, S > &  v 
)

Definition at line 258 of file rall1d.h.

References v.

◆ operator+() [6/6]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator+ ( s,
const Rall2d< T, V, S > &  v 
)

Definition at line 274 of file rall2d.h.

References v.

◆ operator-() [1/8]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator- ( const Rall1d< T, V, S > &  arg)

Definition at line 240 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

◆ operator-() [2/8]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator- ( const Rall1d< T, V, S > &  lhs,
const Rall1d< T, V, S > &  rhs 
)

Definition at line 234 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

◆ operator-() [3/8]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator- ( const Rall1d< T, V, S > &  v,
s 
)

Definition at line 276 of file rall1d.h.

References v.

◆ operator-() [4/8]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator- ( const Rall2d< T, V, S > &  arg)

◆ operator-() [5/8]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator- ( const Rall2d< T, V, S > &  lhs,
const Rall2d< T, V, S > &  rhs 
)

◆ operator-() [6/8]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator- ( const Rall2d< T, V, S > &  v,
s 
)

Definition at line 292 of file rall2d.h.

References v.

◆ operator-() [7/8]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator- ( s,
const Rall1d< T, V, S > &  v 
)

Definition at line 270 of file rall1d.h.

References v.

◆ operator-() [8/8]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator- ( s,
const Rall2d< T, V, S > &  v 
)

Definition at line 286 of file rall2d.h.

References v.

◆ operator/() [1/6]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator/ ( const Rall1d< T, V, S > &  lhs,
const Rall1d< T, V, S > &  rhs 
)

Definition at line 215 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, and KDL::Rall1d< T, V, S >::t.

◆ operator/() [2/6]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator/ ( const Rall1d< T, V, S > &  v,
s 
)

Definition at line 288 of file rall1d.h.

References v.

◆ operator/() [3/6]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator/ ( const Rall2d< T, V, S > &  lhs,
const Rall2d< T, V, S > &  rhs 
)

◆ operator/() [4/6]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator/ ( const Rall2d< T, V, S > &  v,
s 
)

Definition at line 309 of file rall2d.h.

References v.

◆ operator/() [5/6]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::operator/ ( s,
const Rall1d< T, V, S > &  v 
)

Definition at line 282 of file rall1d.h.

References v.

◆ operator/() [6/6]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::operator/ ( s,
const Rall2d< T, V, S > &  rhs 
)

◆ operator<<() [1/16]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Chain chain 
)

Definition at line 46 of file kinfam_io.cpp.

References KDL::Chain::getNrOfSegments(), and KDL::Chain::getSegment().

◆ operator<<() [2/16]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Frame T 
)

Definition at line 108 of file frames_io.cpp.

References T.

◆ operator<<() [3/16]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Frame2 T 
)

Definition at line 126 of file frames_io.cpp.

References T.

◆ operator<<() [4/16]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Jacobian jac 
)

Definition at line 88 of file kinfam_io.cpp.

References KDL::Jacobian::columns(), KDL_FRAME_WIDTH, and KDL::Jacobian::rows().

◆ operator<<() [5/16]

std::ostream & KDL::operator<< ( std::ostream &  os,
const JntArray array 
)

Definition at line 76 of file kinfam_io.cpp.

References KDL_FRAME_WIDTH.

◆ operator<<() [6/16]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Joint joint 
)

Definition at line 29 of file kinfam_io.cpp.

References KDL::Joint::getTypeName().

◆ operator<<() [7/16]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Rotation R 
)

Definition at line 74 of file frames_io.cpp.

References KDL_FRAME_WIDTH, R, r, x, y, and z.

◆ operator<<() [8/16]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Rotation2 R 
)

Definition at line 121 of file frames_io.cpp.

References R, and rad2deg.

◆ operator<<() [9/16]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Segment segment 
)

Definition at line 37 of file kinfam_io.cpp.

◆ operator<<() [10/16]

template<typename T >
std::ostream& KDL::operator<< ( std::ostream &  os,
const std::vector< T > &  vec 
)

Definition at line 54 of file kinfam_io.hpp.

◆ operator<<() [11/16]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Tree tree 
)

Definition at line 58 of file kinfam_io.cpp.

References tree.

◆ operator<<() [12/16]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Twist v 
)

Definition at line 51 of file frames_io.cpp.

References KDL_FRAME_WIDTH, and v.

◆ operator<<() [13/16]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Vector v 
)

width to be used when printing variables out with frames_io.h global variable, can be changed.

Definition at line 45 of file frames_io.cpp.

References KDL_FRAME_WIDTH, and v.

◆ operator<<() [14/16]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Vector2 v 
)

Definition at line 114 of file frames_io.cpp.

References KDL_FRAME_WIDTH, and v.

◆ operator<<() [15/16]

std::ostream & KDL::operator<< ( std::ostream &  os,
const Wrench v 
)

Definition at line 62 of file frames_io.cpp.

References KDL_FRAME_WIDTH, and v.

◆ operator<<() [16/16]

std::ostream & KDL::operator<< ( std::ostream &  os,
SegmentMap::const_iterator  root 
)

Definition at line 63 of file kinfam_io.cpp.

◆ operator==() [1/2]

bool KDL::operator== ( const JntArray src1,
const JntArray src2 
)

Definition at line 155 of file jntarray.cpp.

◆ operator==() [2/2]

bool KDL::operator== ( const Rotation a,
const Rotation b 
)

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

Definition at line 377 of file frames.cpp.

Referenced by operator!=().

◆ operator>>() [1/15]

std::istream & KDL::operator>> ( std::istream &  is,
Chain chain 
)

Definition at line 54 of file kinfam_io.cpp.

◆ operator>>() [2/15]

std::istream & KDL::operator>> ( std::istream &  is,
Frame T 
)

Definition at line 254 of file frames_io.cpp.

References Freestyle::a, deg2rad, KDL::Frame::DH(), Eat(), EatEnd(), EatWord(), IOTrace(), IOTracePop(), and T.

◆ operator>>() [3/15]

std::istream & KDL::operator>> ( std::istream &  is,
Frame2 T 
)

Definition at line 305 of file frames_io.cpp.

References IOTrace(), IOTracePop(), and T.

◆ operator>>() [4/15]

std::istream & KDL::operator>> ( std::istream &  is,
Jacobian jac 
)

Definition at line 99 of file kinfam_io.cpp.

◆ operator>>() [5/15]

std::istream & KDL::operator>> ( std::istream &  is,
JntArray array 
)

Definition at line 84 of file kinfam_io.cpp.

◆ operator>>() [6/15]

std::istream & KDL::operator>> ( std::istream &  is,
Joint joint 
)

Definition at line 33 of file kinfam_io.cpp.

◆ operator>>() [7/15]

std::istream & KDL::operator>> ( std::istream &  is,
Rotation r 
)

◆ operator>>() [8/15]

std::istream & KDL::operator>> ( std::istream &  is,
Rotation2 r 
)

Definition at line 295 of file frames_io.cpp.

References deg2rad, Eat(), EatEnd(), IOTrace(), IOTracePop(), and r.

◆ operator>>() [9/15]

std::istream & KDL::operator>> ( std::istream &  is,
Segment segment 
)

Definition at line 42 of file kinfam_io.cpp.

◆ operator>>() [10/15]

template<typename T >
std::istream& KDL::operator>> ( std::istream &  is,
std::vector< T > &  vec 
)

Definition at line 64 of file kinfam_io.hpp.

◆ operator>>() [11/15]

std::istream & KDL::operator>> ( std::istream &  is,
Tree tree 
)

Definition at line 72 of file kinfam_io.cpp.

◆ operator>>() [12/15]

std::istream & KDL::operator>> ( std::istream &  is,
Twist v 
)

Definition at line 155 of file frames_io.cpp.

References Eat(), EatEnd(), IOTrace(), IOTracePop(), and v.

◆ operator>>() [13/15]

std::istream & KDL::operator>> ( std::istream &  is,
Vector v 
)

Definition at line 132 of file frames_io.cpp.

References Eat(), EatEnd(), EatWord(), IOTrace(), IOTracePop(), v, and KDL::Vector::Zero().

◆ operator>>() [14/15]

std::istream & KDL::operator>> ( std::istream &  is,
Vector2 v 
)

Definition at line 285 of file frames_io.cpp.

References Eat(), EatEnd(), IOTrace(), IOTracePop(), and v.

◆ operator>>() [15/15]

std::istream & KDL::operator>> ( std::istream &  is,
Wrench v 
)

Definition at line 174 of file frames_io.cpp.

References Eat(), EatEnd(), IOTrace(), IOTracePop(), and v.

◆ posrandom() [1/6]

void KDL::posrandom ( double a)
inline

Definition at line 278 of file utility.h.

References Freestyle::a, and double().

◆ posrandom() [2/6]

IMETHOD void KDL::posrandom ( doubleVel F)

Definition at line 48 of file framevel.hpp.

References F.

Referenced by posrandom(), and posrandom().

◆ posrandom() [3/6]

IMETHOD void KDL::posrandom ( FrameVel F)

Definition at line 378 of file framevel.hpp.

References F, and posrandom().

◆ posrandom() [4/6]

IMETHOD void KDL::posrandom ( RotationVel R)

Definition at line 373 of file framevel.hpp.

References posrandom(), and R.

◆ posrandom() [5/6]

IMETHOD void KDL::posrandom ( TwistVel a)

Definition at line 368 of file framevel.hpp.

References Freestyle::a, and posrandom().

◆ posrandom() [6/6]

IMETHOD void KDL::posrandom ( VectorVel a)

Definition at line 364 of file framevel.hpp.

References Freestyle::a, and posrandom().

◆ pow() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::pow ( const Rall1d< T, V, S > &  arg,
double  m 
)

Definition at line 359 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, KDL::Rall1d< T, V, S >::t, T, and v.

Referenced by pow().

◆ pow() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::pow ( const Rall2d< T, V, S > &  arg,
double  m 
)

◆ pow() [3/3]

double KDL::pow ( double  a,
double  b 
)
inline

Definition at line 124 of file utility.h.

References Freestyle::a, and usdtokens::b().

◆ PYTHAG()

template<typename Scalar >
Scalar KDL::PYTHAG ( Scalar  a,
Scalar  b 
)
inline

Definition at line 33 of file svd_eigen_HH.hpp.

References Freestyle::a, usdtokens::b(), fabs(), and sqrt().

Referenced by svd_eigen_HH().

◆ random() [1/6]

void KDL::random ( double a)
inline

Definition at line 274 of file utility.h.

References Freestyle::a, and double().

◆ random() [2/6]

IMETHOD void KDL::random ( doubleVel F)

Definition at line 44 of file framevel.hpp.

References F.

Referenced by posrandom(), random(), and random().

◆ random() [3/6]

IMETHOD void KDL::random ( FrameVel F)

Definition at line 360 of file framevel.hpp.

References F, and random().

◆ random() [4/6]

IMETHOD void KDL::random ( RotationVel R)

Definition at line 355 of file framevel.hpp.

References R, and random().

◆ random() [5/6]

IMETHOD void KDL::random ( TwistVel a)

Definition at line 350 of file framevel.hpp.

References Freestyle::a, and random().

◆ random() [6/6]

IMETHOD void KDL::random ( VectorVel a)

Definition at line 346 of file framevel.hpp.

References Freestyle::a, and random().

◆ SetToIdentity() [1/3]

void KDL::SetToIdentity ( double arg)
inline

to uniformly set double, RNDouble,Vector,... objects to the identity element in template-classes

Definition at line 246 of file utility.h.

◆ SetToIdentity() [2/3]

template<class T , class V , class S >
INLINE void KDL::SetToIdentity ( Rall1d< T, V, S > &  value)

◆ SetToIdentity() [3/3]

template<class T , class V , class S >
INLINE void KDL::SetToIdentity ( Rall2d< T, V, S > &  value)

◆ SetToZero() [1/7]

void KDL::SetToZero ( double arg)
inline

to uniformly set double, RNDouble,Vector,... objects to zero in template-classes

Definition at line 241 of file utility.h.

◆ SetToZero() [2/7]

void KDL::SetToZero ( Jacobian jac)

◆ SetToZero() [3/7]

void KDL::SetToZero ( JntArray array)

Function to set all the values of the array to 0

Parameters
array

Definition at line 140 of file jntarray.cpp.

◆ SetToZero() [4/7]

void KDL::SetToZero ( JntArrayAcc array)

Definition at line 160 of file jntarrayacc.cpp.

◆ SetToZero() [5/7]

void KDL::SetToZero ( JntArrayVel array)

Definition at line 102 of file jntarrayvel.cpp.

◆ SetToZero() [6/7]

template<class T , class V , class S >
INLINE void KDL::SetToZero ( Rall1d< T, V, S > &  value)

Definition at line 454 of file rall1d.h.

References KDL::Rall1d< T, V, S >::grad, SetToZero(), and KDL::Rall1d< T, V, S >::t.

◆ SetToZero() [7/7]

template<class T , class V , class S >
INLINE void KDL::SetToZero ( Rall2d< T, V, S > &  value)

◆ sign()

double KDL::sign ( double  arg)
inline

◆ SIGN()

template<typename Scalar >
Scalar KDL::SIGN ( Scalar  a,
Scalar  b 
)
inline

Definition at line 51 of file svd_eigen_HH.hpp.

References Freestyle::a, usdtokens::b(), and fabs().

Referenced by svd_eigen_HH().

◆ sin() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::sin ( const Rall1d< T, V, S > &  arg)

Definition at line 311 of file rall1d.h.

References cos(), KDL::Rall1d< T, V, S >::grad, KDL::Rall1d< T, V, S >::t, T, and v.

Referenced by acos(), applyLength(), base_callback(), bend_angle(), BKE_gpencil_stroke_stretch(), blender::nodes::calculate_cone_uvs(), blender::nodes::calculate_cone_vertices(), blender::nodes::node_geo_mesh_primitive_uv_sphere_cc::calculate_sphere_vertex_data(), cloth_spring_angle(), cos(), blender::nodes::node_geo_curve_primitive_arc_cc::create_arc_curve_from_radius(), blender::nodes::node_geo_mesh_primitive_circle_cc::create_circle_mesh(), blender::nodes::node_geo_curve_primitive_circle_cc::create_point_circle_curve(), blender::nodes::node_geo_curve_primitive_circle_cc::create_radius_circle_curve(), blender::nodes::node_geo_curve_primitive_spiral_cc::create_spiral_curve(), blender::nodes::node_geo_curve_primitive_star_cc::create_star_curve(), blender::io::alembic::create_swapped_rotation_matrix(), deformStroke(), KDL::Frame::DH(), KDL::Frame::DH_Craig1989(), diagonalize(), KDL::Rotation::DoRotX(), KDL::Rotation::DoRotY(), KDL::Rotation::DoRotZ(), libmv::DrawEllipse(), blender::compositor::RotateOperation::ensure_degree(), eul_to_mat3(), eul_to_mat4(), euler_to_mat(), KDL::Rotation::EulerZYZ(), eulO_to_mat3(), eulO_to_quat(), blender::compositor::MathSineOperation::execute_pixel_sampled(), extrawindow_spin_cursor(), fcm_fn_generator_evaluate(), find_even_superellipse_chords(), find_internal_spring_target_vertex(), blender::float3x3::from_rotation(), blender::float3x3::from_translation_rotation_scale(), gearGL(), blender::compositor::GlareStreaksOperation::generate_glare(), GHOST_Wintab::getInput(), KDL::Rotation::GetRotAngle(), gpencil_brush_angle(), gpencil_brush_angle_segment(), gpencil_brush_grab_calc_dvec(), gpencil_brush_jitter(), gpencil_calc_stroke_fill_uv(), gpencil_vfx_blur(), gpencil_vfx_glow(), blender::compositor::TransformOperation::init_data(), blender::compositor::BoxMaskOperation::init_execution(), blender::compositor::EllipseMaskOperation::init_execution(), Freestyle::LanczosWindowed(), Freestyle::NodePerspectiveCamera::NodePerspectiveCamera(), libmv::NRealisticCamerasFull(), libmv::NRealisticCamerasSparse(), polygon_sides_length(), blender::ed::curves::primitive_random_sphere(), Rot(), KDL::Rotation::Rot(), KDL::Rotation2::Rot(), KDL::Rotation::Rot2(), Freestyle::NodeTransform::Rotate(), rotate_direction_around_axis(), blender::math::rotate_direction_around_axis(), libmv::RotationFromEulerVector(), RotationMatrix(), libmv::RotationRodrigues(), KDL::Rotation::RotX(), KDL::Rotation::RotY(), KDL::Rotation::RotZ(), KDL::Rotation::RPY(), blender::bke::mesh_surface_sample::sample_surface_points_projected(), blender::bke::mesh_surface_sample::sample_surface_points_spherical(), Freestyle::OGF::MatrixUtil::semi_definite_symmetric_eigen(), IK_QSphericalSegment::SetLimit(), IK_QSwingSegment::SetLimit(), KDL::Rotation2::SetRot(), sin(), sinc(), Freestyle::SteerableViewMap::SteerableViewMap(), blender::compositor::MathSineOperation::update_memory_buffer_partial(), IK_QSphericalSegment::UpdateAngle(), IK_QSwingSegment::UpdateAngle(), and IK_QElbowSegment::UpdateAngleApply().

◆ sin() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::sin ( const Rall2d< T, V, S > &  arg)

◆ sin() [3/3]

double KDL::sin ( double  a)
inline

Definition at line 87 of file utility.h.

References Freestyle::a.

◆ sinh() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::sinh ( const Rall1d< T, V, S > &  arg)

◆ sinh() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::sinh ( const Rall2d< T, V, S > &  arg)

◆ sinh() [3/3]

double KDL::sinh ( double  a)
inline

Definition at line 106 of file utility.h.

References Freestyle::a.

◆ sqr() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::sqr ( const Rall1d< T, V, S > &  arg)

◆ sqr() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::sqr ( const Rall2d< T, V, S > &  arg)

◆ sqr() [3/3]

double KDL::sqr ( double  arg)
inline

Definition at line 254 of file utility.h.

◆ sqrt() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::sqrt ( const Rall1d< T, V, S > &  arg)

◆ sqrt() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::sqrt ( const Rall2d< T, V, S > &  arg)

◆ sqrt() [3/3]

double KDL::sqrt ( double  a)
inline

Definition at line 109 of file utility.h.

References Freestyle::a.

◆ Subtract() [1/6]

void KDL::Subtract ( const JntArray src1,
const JntArray src2,
JntArray dest 
)

Function to subtract two joint arrays, all the arguments must have the same size: A - B = C. This function is aliasing-safe, A or B can be the same array as C.

Parameters
src1A
src2B
destC

Definition at line 110 of file jntarray.cpp.

◆ Subtract() [2/6]

void KDL::Subtract ( const JntArrayAcc src1,
const JntArray src2,
JntArrayAcc dest 
)

Definition at line 93 of file jntarrayacc.cpp.

◆ Subtract() [3/6]

void KDL::Subtract ( const JntArrayAcc src1,
const JntArrayAcc src2,
JntArrayAcc dest 
)

Definition at line 81 of file jntarrayacc.cpp.

◆ Subtract() [4/6]

void KDL::Subtract ( const JntArrayAcc src1,
const JntArrayVel src2,
JntArrayAcc dest 
)

Definition at line 87 of file jntarrayacc.cpp.

◆ Subtract() [5/6]

void KDL::Subtract ( const JntArrayVel src1,
const JntArray src2,
JntArrayVel dest 
)

Definition at line 70 of file jntarrayvel.cpp.

◆ Subtract() [6/6]

void KDL::Subtract ( const JntArrayVel src1,
const JntArrayVel src2,
JntArrayVel dest 
)

Definition at line 65 of file jntarrayvel.cpp.

◆ svd_eigen_HH()

template<typename MatrixA , typename MatrixUV , typename VectorS >
int KDL::svd_eigen_HH ( const Eigen::MatrixBase< MatrixA > &  A,
Eigen::MatrixBase< MatrixUV > &  U,
Eigen::MatrixBase< VectorS > &  S,
Eigen::MatrixBase< MatrixUV > &  V,
Eigen::MatrixBase< VectorS > &  tmp,
int  maxiter = 150 
)

svd calculation of boost ublas matrices

Parameters
Amatrix<double>(mxn)
Umatrix<double>(mxn)
Svector<double> n
Vmatrix<double>(nxn)
tmpvector<double> n
maxiterdefaults to 150
Returns
-2 if maxiter exceeded, 0 otherwise

Definition at line 68 of file svd_eigen_HH.hpp.

References A, Freestyle::c, e_scalar, fabs(), usdtokens::g(), PYTHAG(), SIGN(), sqrt(), U, V, x, y, and z.

Referenced by iTaSC::ConstraintSet::closeLoop(), iTaSC::WDLSSolver::solve(), iTaSC::WSDLSSolver::solve(), and iTaSC::Scene::update().

◆ tan() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::tan ( const Rall1d< T, V, S > &  arg)

◆ tan() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::tan ( const Rall2d< T, V, S > &  arg)

◆ tan() [3/3]

double KDL::tan ( double  a)
inline

Definition at line 100 of file utility.h.

References Freestyle::a.

◆ tanh() [1/3]

template<class T , class V , class S >
INLINE Rall1d<T,V,S> KDL::tanh ( const Rall1d< T, V, S > &  arg)

◆ tanh() [2/3]

template<class T , class V , class S >
INLINE Rall2d<T,V,S> KDL::tanh ( const Rall2d< T, V, S > &  arg)

◆ tanh() [3/3]

double KDL::tanh ( double  a)
inline

Definition at line 121 of file utility.h.

References Freestyle::a.

◆ Upper()

char KDL::Upper ( char  ch)
inline

Definition at line 142 of file utility_io.cpp.

Referenced by Eat().

Variable Documentation

◆ deg2rad

const double KDL::deg2rad = 0.01745329251994329576923690768488

the value pi/180

Definition at line 20 of file utility.cpp.

Referenced by operator>>().

◆ epsilon

double KDL::epsilon = 0.000001

◆ epsilon2

double KDL::epsilon2 = 0.000001*0.000001

power or 2 of epsilon

Definition at line 23 of file utility.cpp.

Referenced by cloth_collision(), cloth_collision_response_static(), hair_collision(), and iTaSC::Armature::updateJoint().

◆ errorstack

ErrorStack KDL::errorstack

Definition at line 30 of file error_stack.cpp.

Referenced by IOTrace(), IOTraceOutput(), IOTracePop(), and IOTracePopStr().

◆ MAXLENFILENAME

int KDL::MAXLENFILENAME = 255

maximal length of a file name

Definition at line 18 of file utility.cpp.

◆ PI

const double KDL::PI = 3.1415926535897932384626433832795

◆ rad2deg

const double KDL::rad2deg = 57.2957795130823208767981548141052

the value 180/pi

Definition at line 21 of file utility.cpp.

Referenced by operator<<().

◆ STREAMBUFFERSIZE

int KDL::STREAMBUFFERSIZE =10000

/note linkage Something fishy about the difference between C++ and C in C++ const values default to INTERNAL linkage, in C they default to EXTERNAL linkage. Here the constants should have EXTERNAL linkage because they, for at least some of them, can be changed by the user. If you want to explicitly declare internal linkage, use "static".

Definition at line 17 of file utility.cpp.

◆ VSIZE

int KDL::VSIZE
extern

the number of derivatives used in the RN-... objects.