This file is indexed.

/usr/include/kdl/frameacc.hpp is in liborocos-kdl-dev 1.3.1+dfsg-1.

This file is owned by root:root, with mode 0o644.

The actual contents of the file can be viewed below.

  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
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
/*****************************************************************************
 * \file
 *      This file contains the definition of classes for a
 *      Rall Algebra of (subset of) the classes defined in frames,
 *      i.e. classes that contain a set (value,derivative,2nd derivative)
 *      and define operations on that set
 *      this classes are usefull for automatic differentiation ( <-> symbolic diff ,
 *      <-> numeric diff).
 *      Defines VectorAcc, RotationAcc, FrameAcc, doubleAcc.
 *      Look at the corresponding classes Vector Rotation Frame Twist and
 *      Wrench for the semantics of the methods.
 *
 *      It also contains the 2nd derivative <-> RFrames.h
 *
 *  \author
 *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
 *
 *  \version
 *      ORO_Geometry V0.2
 *
 *  \par History
 *      - $log$
 *
 *  \par Release
 *      $Id: rrframes.h,v 1.1.1.1 2002/08/26 14:14:21 rmoreas Exp $
 *      $Name:  $
 ****************************************************************************/

#ifndef RRFRAMES_H
#define RRFRAMES_H


#include "utilities/rall2d.h"
#include "frames.hpp"



namespace KDL {

class TwistAcc;
typedef Rall2d<double,double,double> doubleAcc;

// Equal is friend function, but default arguments for friends are forbidden (ยง8.3.6.4)
class FrameAcc;
class RotationAcc;
class VectorAcc;

IMETHOD bool Equal(const FrameAcc& r1,const FrameAcc& r2,double eps=epsilon);
IMETHOD bool Equal(const Frame& r1,const FrameAcc& r2,double eps=epsilon);
IMETHOD bool Equal(const FrameAcc& r1,const Frame& r2,double eps=epsilon);
IMETHOD bool Equal(const RotationAcc& r1,const RotationAcc& r2,double eps=epsilon);
IMETHOD bool Equal(const Rotation& r1,const RotationAcc& r2,double eps=epsilon);
IMETHOD bool Equal(const RotationAcc& r1,const Rotation& r2,double eps=epsilon);
IMETHOD bool Equal(const TwistAcc& a,const TwistAcc& b,double eps=epsilon);
IMETHOD bool Equal(const Twist& a,const TwistAcc& b,double eps=epsilon);
IMETHOD bool Equal(const TwistAcc& a,const Twist& b,double eps=epsilon);
IMETHOD bool Equal(const VectorAcc& r1,const VectorAcc& r2,double eps=epsilon);
IMETHOD bool Equal(const Vector& r1,const VectorAcc& r2,double eps=epsilon);
IMETHOD bool Equal(const VectorAcc& r1,const Vector& r2,double eps=epsilon);

class VectorAcc
{
public:
    Vector p;   //!< position vector
    Vector v;   //!< velocity vector
    Vector dv;  //!< acceleration vector
public:
    VectorAcc():p(),v(),dv() {}
    explicit VectorAcc(const Vector& _p):p(_p),v(Vector::Zero()),dv(Vector::Zero()) {}
    VectorAcc(const Vector& _p,const Vector& _v):p(_p),v(_v),dv(Vector::Zero()) {}
    VectorAcc(const Vector& _p,const Vector& _v,const Vector& _dv):
        p(_p),v(_v),dv(_dv) {}
    IMETHOD VectorAcc& operator = (const VectorAcc& arg);
    IMETHOD VectorAcc& operator = (const Vector& arg);
    IMETHOD VectorAcc& operator += (const VectorAcc& arg);
    IMETHOD VectorAcc& operator -= (const VectorAcc& arg);
    IMETHOD static VectorAcc Zero();
    IMETHOD void ReverseSign();
    IMETHOD doubleAcc Norm();
    IMETHOD friend VectorAcc operator + (const VectorAcc& r1,const VectorAcc& r2);
    IMETHOD friend VectorAcc operator - (const VectorAcc& r1,const VectorAcc& r2);
    IMETHOD friend VectorAcc operator + (const Vector& r1,const VectorAcc& r2);
    IMETHOD friend VectorAcc operator - (const Vector& r1,const VectorAcc& r2);
    IMETHOD friend VectorAcc operator + (const VectorAcc& r1,const Vector& r2);
    IMETHOD friend VectorAcc operator - (const VectorAcc& r1,const Vector& r2);
    IMETHOD friend VectorAcc operator * (const VectorAcc& r1,const VectorAcc& r2);
    IMETHOD friend VectorAcc operator * (const VectorAcc& r1,const Vector& r2);
    IMETHOD friend VectorAcc operator * (const Vector& r1,const VectorAcc& r2);
    IMETHOD friend VectorAcc operator * (const VectorAcc& r1,double r2);
    IMETHOD friend VectorAcc operator * (double r1,const VectorAcc& r2);
    IMETHOD friend VectorAcc operator * (const doubleAcc& r1,const VectorAcc& r2);
    IMETHOD friend VectorAcc operator * (const VectorAcc& r2,const doubleAcc& r1);
    IMETHOD friend VectorAcc operator*(const Rotation& R,const VectorAcc& x);

    IMETHOD friend VectorAcc operator / (const VectorAcc& r1,double r2);
    IMETHOD friend VectorAcc operator / (const VectorAcc& r2,const doubleAcc& r1);


    IMETHOD friend bool Equal(const VectorAcc& r1,const VectorAcc& r2,double eps);
    IMETHOD friend bool Equal(const Vector& r1,const VectorAcc& r2,double eps);
    IMETHOD friend bool Equal(const VectorAcc& r1,const Vector& r2,double eps);
    IMETHOD friend VectorAcc operator - (const VectorAcc& r);
    IMETHOD friend doubleAcc dot(const VectorAcc& lhs,const VectorAcc& rhs);
    IMETHOD friend doubleAcc dot(const VectorAcc& lhs,const Vector& rhs);
    IMETHOD friend doubleAcc dot(const Vector& lhs,const VectorAcc& rhs);
};



class RotationAcc
{
public:
    Rotation R;     //!< rotation matrix
    Vector   w;     //!< angular velocity vector
    Vector   dw;    //!< angular acceration vector
public:
    RotationAcc():R(),w() {}
    explicit RotationAcc(const Rotation& _R):R(_R),w(Vector::Zero()){}
    RotationAcc(const Rotation& _R,const Vector& _w,const Vector& _dw):
        R(_R),w(_w),dw(_dw) {}
    IMETHOD RotationAcc& operator = (const RotationAcc& arg);
    IMETHOD RotationAcc& operator = (const Rotation& arg);
    IMETHOD static RotationAcc Identity();
    IMETHOD RotationAcc Inverse() const;
    IMETHOD VectorAcc Inverse(const VectorAcc& arg) const;
    IMETHOD VectorAcc Inverse(const Vector& arg) const;
    IMETHOD VectorAcc operator*(const VectorAcc& arg) const;
    IMETHOD VectorAcc operator*(const Vector& arg) const;

    //  Rotations
    // The SetRot.. functions set the value of *this to the appropriate rotation matrix.
    // The Rot... static functions give the value of the appropriate rotation matrix back.
    // The DoRot... functions apply a rotation R to *this,such that *this = *this * R.
    // IMETHOD void DoRotX(const doubleAcc& angle);
    // IMETHOD void DoRotY(const doubleAcc& angle);
    // IMETHOD void DoRotZ(const doubleAcc& angle);
    // IMETHOD static RRotation RotX(const doubleAcc& angle);
    // IMETHOD static RRotation RotY(const doubleAcc& angle);
    // IMETHOD static RRotation RotZ(const doubleAcc& angle);

    // IMETHOD void SetRot(const Vector& rotaxis,const doubleAcc& angle);
    // Along an arbitrary axes.  The norm of rotvec is neglected.
    // IMETHOD static RotationAcc Rot(const Vector& rotvec,const doubleAcc& angle);
    // rotvec has arbitrary norm
    // rotation around a constant vector !
    // IMETHOD static RotationAcc Rot2(const Vector& rotvec,const doubleAcc& angle);
    // rotvec is normalized.
    // rotation around a constant vector !

    IMETHOD friend RotationAcc operator* (const RotationAcc& r1,const RotationAcc& r2);
    IMETHOD friend RotationAcc operator* (const Rotation& r1,const RotationAcc& r2);
    IMETHOD friend RotationAcc operator* (const RotationAcc& r1,const Rotation& r2);
    IMETHOD friend bool Equal(const RotationAcc& r1,const RotationAcc& r2,double eps);
    IMETHOD friend bool Equal(const Rotation& r1,const RotationAcc& r2,double eps);
    IMETHOD friend bool Equal(const RotationAcc& r1,const Rotation& r2,double eps);
    IMETHOD TwistAcc Inverse(const TwistAcc& arg) const;
    IMETHOD TwistAcc Inverse(const Twist& arg) const;
    IMETHOD TwistAcc operator * (const TwistAcc& arg) const;
    IMETHOD TwistAcc operator * (const Twist& arg) const;
};




class FrameAcc
{
public:
    RotationAcc M;   //!< Rotation,angular velocity, and angular acceleration of frame.
    VectorAcc   p;   //!< Translation, velocity and acceleration of origin.
public:
    FrameAcc(){}
    explicit FrameAcc(const Frame& _T):M(_T.M),p(_T.p) {}
    FrameAcc(const Frame& _T,const Twist& _t,const Twist& _dt):
        M(_T.M,_t.rot,_dt.rot),p(_T.p,_t.vel,_dt.vel) {}
    FrameAcc(const RotationAcc& _M,const VectorAcc& _p):M(_M),p(_p) {}

    IMETHOD FrameAcc& operator = (const FrameAcc& arg);
    IMETHOD FrameAcc& operator = (const Frame& arg);
    IMETHOD static FrameAcc Identity();
    IMETHOD FrameAcc Inverse() const;
    IMETHOD VectorAcc Inverse(const VectorAcc& arg) const;
    IMETHOD VectorAcc operator*(const VectorAcc& arg) const;
    IMETHOD VectorAcc operator*(const Vector& arg) const;
    IMETHOD VectorAcc Inverse(const Vector& arg) const;
    IMETHOD Frame GetFrame() const;
    IMETHOD Twist GetTwist() const;
    IMETHOD Twist GetAccTwist() const;
    IMETHOD friend FrameAcc operator * (const FrameAcc& f1,const FrameAcc& f2);
    IMETHOD friend FrameAcc operator * (const Frame& f1,const FrameAcc& f2);
    IMETHOD friend FrameAcc operator * (const FrameAcc& f1,const Frame& f2);
    IMETHOD friend bool Equal(const FrameAcc& r1,const FrameAcc& r2,double eps);
    IMETHOD friend bool Equal(const Frame& r1,const FrameAcc& r2,double eps);
    IMETHOD friend bool Equal(const FrameAcc& r1,const Frame& r2,double eps);

    IMETHOD TwistAcc  Inverse(const TwistAcc& arg) const;
    IMETHOD TwistAcc  Inverse(const Twist& arg) const;
    IMETHOD TwistAcc operator * (const TwistAcc& arg) const;
    IMETHOD TwistAcc operator * (const Twist& arg) const;
};








//very similar to Wrench class.
class TwistAcc
{
public:
    VectorAcc vel;       //!< translational velocity and its 1st and 2nd derivative
    VectorAcc rot;       //!< rotational velocity and its 1st and 2nd derivative
public:

     TwistAcc():vel(),rot() {};
     TwistAcc(const VectorAcc& _vel,const VectorAcc& _rot):vel(_vel),rot(_rot) {};

     IMETHOD TwistAcc& operator-=(const TwistAcc& arg);
     IMETHOD TwistAcc& operator+=(const TwistAcc& arg);

     IMETHOD friend TwistAcc operator*(const TwistAcc& lhs,double rhs);
     IMETHOD friend TwistAcc operator*(double lhs,const TwistAcc& rhs);
     IMETHOD friend TwistAcc operator/(const TwistAcc& lhs,double rhs);

     IMETHOD friend TwistAcc operator*(const TwistAcc& lhs,const doubleAcc& rhs);
     IMETHOD friend TwistAcc operator*(const doubleAcc& lhs,const TwistAcc& rhs);
     IMETHOD friend TwistAcc operator/(const TwistAcc& lhs,const doubleAcc& rhs);

     IMETHOD friend TwistAcc operator+(const TwistAcc& lhs,const TwistAcc& rhs);
     IMETHOD friend TwistAcc operator-(const TwistAcc& lhs,const TwistAcc& rhs);
     IMETHOD friend TwistAcc operator-(const TwistAcc& arg);

     IMETHOD friend void SetToZero(TwistAcc& v);

     static IMETHOD TwistAcc Zero();

     IMETHOD void ReverseSign();

     IMETHOD TwistAcc RefPoint(const VectorAcc& v_base_AB);
     // Changes the reference point of the RTwist.
     // The RVector v_base_AB is expressed in the same base as the RTwist
     // The RVector v_base_AB is a RVector from the old point to
     // the new point.
     // Complexity : 6M+6A

     IMETHOD friend bool Equal(const TwistAcc& a,const TwistAcc& b,double eps);
     IMETHOD friend bool Equal(const Twist& a,const TwistAcc& b,double eps);
     IMETHOD friend bool Equal(const TwistAcc& a,const Twist& b,double eps);


     IMETHOD Twist GetTwist() const;
     IMETHOD Twist GetTwistDot() const;

    friend class RotationAcc;
    friend class FrameAcc;

};







#ifdef KDL_INLINE
#include "frameacc.inl"
#endif

}





#endif