addJnts(3)

NAME
addJnts, subtractJnts, scaleJnts, combineJnts, zeroJnts -- RCCL routines for manipulating JNTS types.

USAGE
#include <rccl.h>

JNTS *addJnts (jr, j1, j2)
   JNTS *jr, *j1, *j2;

JNTS *subtractJnts (jr, j1, j2)
   JNTS *jr, *j1, *j2;

JNTS *scaleJnts (jr, a, j1)
   JNTS *jr, *j1;
   float a;

JNTS *combineJnts (jr, a, j1, b, j2)
   JNTS *jr, *j1, *j2;
   float a, b;

JNTS *zeroJnts (jr)
   JNTS *jr;

ARGUMENTS

jr --
    Result joint values.

j1, j2 --
    Input joint values.

a, b --
    Scale factors.

DESCRIPTION
These routines perform simple arithmetic operations on the sets of joint values defined by the RCCL JNTS type. They are coded with unrolled loops, and so execute very quickly. At the moment, these routines do not touch the type or num fields of the result.

addJnts() and subtractJnts() compute jr = j1 + j2 and jr = j1 - j2, respectively.

scaleJnts() computes the vector jr = a j1.

combineJnts() computes the linear combination jr = a j1 + b j2.

zeroJnts() zeros the values of jr.

Each of these routines returns a pointer to its result argument.

There are no special routines for printing or scanning joint values. This can be done with the general vector routines (see printVf(3)).

SEE ALSO
printVf(3).