/usr/include/kdl/jntarrayacc.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 | // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <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
#ifndef KDL_JNTARRAYACC_HPP
#define KDL_JNTARRAYACC_HPP
#include "utilities/utility.h"
#include "jntarray.hpp"
#include "jntarrayvel.hpp"
#include "frameacc.hpp"
namespace KDL
{
// Equal is friend function, but default arguments for friends are forbidden (ยง8.3.6.4)
class JntArrayAcc;
bool Equal(const JntArrayAcc& src1,const JntArrayAcc& src2,double eps=epsilon);
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);
class JntArrayAcc
{
public:
JntArray q;
JntArray qdot;
JntArray qdotdot;
public:
JntArrayAcc(){};
explicit JntArrayAcc(unsigned int size);
JntArrayAcc(const JntArray& q,const JntArray& qdot,const JntArray& qdotdot);
JntArrayAcc(const JntArray& q,const JntArray& qdot);
explicit JntArrayAcc(const JntArray& q);
void resize(unsigned int newSize);
JntArray value()const;
JntArray deriv()const;
JntArray dderiv()const;
friend void Add(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest);
friend void Add(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest);
friend void Add(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest);
friend void Subtract(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest);
friend void Subtract(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest);
friend void Subtract(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest);
friend void Multiply(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest);
friend void Multiply(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest);
friend void Multiply(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest);
friend void Divide(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest);
friend void Divide(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest);
friend void Divide(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest);
friend void SetToZero(JntArrayAcc& array);
friend bool Equal(const JntArrayAcc& src1,const JntArrayAcc& src2,double eps);
};
}
#endif
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