1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
|
// Copyright (C) 2009 Dominick Vanthienen <dominick dot vanthienen at mech dot kuleuven dot be>
// Version: 1.0
// Author: Dominick Vanthienen <dominick dot vanthienen at mech dot kuleuven dot be>
// Maintainer: Dominick Vanthienen <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// Lesser General Public License for more details.
// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
#include "jntspaceinertiamatrix.hpp"
namespace KDL
{
USING_PART_OF_NAMESPACE_EIGEN
JntSpaceInertiaMatrix::JntSpaceInertiaMatrix()
{
}
JntSpaceInertiaMatrix::JntSpaceInertiaMatrix(int _size):
data(_size, _size)
{
data.setZero();
}
JntSpaceInertiaMatrix::JntSpaceInertiaMatrix(const JntSpaceInertiaMatrix& arg):
data(arg.data)
{
}
JntSpaceInertiaMatrix& JntSpaceInertiaMatrix::operator = (const JntSpaceInertiaMatrix& arg)
{
data=arg.data;
return *this;
}
JntSpaceInertiaMatrix::~JntSpaceInertiaMatrix()
{
}
void JntSpaceInertiaMatrix::resize(unsigned int newSize)
{
data.resize(newSize,newSize);
}
double JntSpaceInertiaMatrix::operator()(unsigned int i,unsigned int j)const
{
return data(i, j);
}
double& JntSpaceInertiaMatrix::operator()(unsigned int i,unsigned int j)
{
return data(i, j);
}
unsigned int JntSpaceInertiaMatrix::rows()const
{
return data.rows();
}
unsigned int JntSpaceInertiaMatrix::columns()const
{
return data.cols();
}
void Add(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,JntSpaceInertiaMatrix& dest)
{
dest.data=src1.data+src2.data;
}
void Subtract(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,JntSpaceInertiaMatrix& dest)
{
dest.data=src1.data-src2.data;
}
void Multiply(const JntSpaceInertiaMatrix& src,const double& factor,JntSpaceInertiaMatrix& dest)
{
dest.data=factor*src.data;
}
void Divide(const JntSpaceInertiaMatrix& src,const double& factor,JntSpaceInertiaMatrix& dest)
{
dest.data=src.data/factor;
}
void Multiply(const JntSpaceInertiaMatrix& src, const JntArray& vec, JntArray& dest)
{
dest.data=(src.data*vec.data).lazy();
}
void SetToZero(JntSpaceInertiaMatrix& mat)
{
mat.data.setZero();
}
bool Equal(const JntSpaceInertiaMatrix& src1, const JntSpaceInertiaMatrix& src2,double eps)
{
if(src1.rows()!=src2.rows()||src1.columns()!=src2.columns())
return false;
return src1.data.isApprox(src2.data,eps);
}
bool operator==(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2){return Equal(src1,src2, epsilon);};
//bool operator!=(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2){return Equal(src1,src2);};
}
|
