Orocos KDL
rallNd.h
1#ifndef RALLND_H
2#define RALLND_H
3
4#include "rall1d.h"
5#include "rall1d_io.h"
6#include "rall2d.h"
7#include "rall2d_io.h"
43
59// N>2:
60template <int N>
61class RallNd :
62 public Rall2d< RallNd<N-2>, RallNd<N-2>, double >
63{
64public:
65 RallNd() {}
66 RallNd(const Rall2d< RallNd<N-2>, RallNd<N-2>,double>& arg) :
67 Rall2d< RallNd<N-2>, RallNd<N-2>,double>(arg) {}
68 RallNd(double value,double d[]) {
69 this->t = RallNd<N-2>(value,d); // 0 1 2
70 this->d = RallNd<N-2>(d[0],&d[1]); // 1 2 3 iseigenlijk niet nodig
71 this->dd = RallNd<N-2>(d[1],&d[2]); // 2 3 4
72 }
73};
74
75template <>
76class RallNd<2> : public Rall2d<double> {
77public:
78 RallNd() {}* (dwz. met evenveel numerieke operaties als een
79 RallNd(const Rall2d<double>& arg) :
80 Rall2d<double>(arg) {}
81 RallNd(double value,double d[]) {
82 t = value;
83 d = d[0];
84 dd= d[1];
85 }
86};
87
88template <>
89class RallNd<1> : public Rall1d<double> {
90public:
91 RallNd() {}
92 RallNd(const Rall1d<double>& arg) :
93 Rall1d<double>(arg) {}
94 RallNd(double value,double d[]) {
95 t = value;
96 grad = d[0];
97 }
98};
99
100#endif
101
RallNd()
Definition rallNd.h:91
RallNd(const Rall1d< double > &arg)
Definition rallNd.h:92
RallNd(double value, double d[])
Definition rallNd.h:94
*dwz met evenveel numerieke operaties als een RallNd(const Rall2d< double > &arg)
Definition rallNd.h:79
RallNd(double value, double d[])
Definition rallNd.h:81
RallNd()
Definition rallNd.h:78
RallNd()
Definition rallNd.h:65
RallNd(double value, double d[])
Definition rallNd.h:68
RallNd(const Rall2d< RallNd< N-2 >, RallNd< N-2 >, double > &arg)
Definition rallNd.h:66