I believe I understand the purpose of the *Vel types, and I'm familiar with

the algebra of Dual numbers, but I'm not sure what "Rall Algebra" means and

I couldn't find any relevant information. Is it a typo? What does it mean?

http://docs.ros.org/hydro/api/orocos_kdl/html/framevel_8hpp_source.html

00002 * \file

> 00003 * This file contains the definition of classes for a

> 00004 * Rall Algebra of (subset of) the classes defined in frames,

> 00005 * i.e. classes that contain a pair (value,derivative) and

> define operations on that pair

> 00006 * this classes are usefull for automatic differentiation ( <->

> symbolic diff , <-> numeric diff)

> 00007 * Defines VectorVel, RotationVel, FrameVel. Look at Frames.h

> for details on how to work

> 00008 * with Frame objects.

> 00009 * \author

> 00010 * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven

>

## "Rall Algebra" mentioned in FrameVel

I'm still wondering about this.

On Sun, May 24, 2015 at 3:59 PM, Gustavo Goretkin <

gustavo [dot] goretkin [..] ...> wrote:

> I believe I understand the purpose of the *Vel types, and I'm familiar

> with the algebra of Dual numbers, but I'm not sure what "Rall Algebra"

> means and I couldn't find any relevant information. Is it a typo? What does

> it mean?

>

> http://docs.ros.org/hydro/api/orocos_kdl/html/framevel_8hpp_source.html

>

>

> 00002 * \file

>> 00003 * This file contains the definition of classes for a

>> 00004 * Rall Algebra of (subset of) the classes defined in frames,

>> 00005 * i.e. classes that contain a pair (value,derivative) and

>> define operations on that pair

>> 00006 * this classes are usefull for automatic differentiation (

>> <-> symbolic diff , <-> numeric diff)

>> 00007 * Defines VectorVel, RotationVel, FrameVel. Look at Frames.h

>> for details on how to work

>> 00008 * with Frame objects.

>> 00009 * \author

>> 00010 * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven

>>

>

## "Rall Algebra" mentioned in FrameVel

See L.B. Rall, “Automatic Differentiation: Techniques and Applications”,

SpringerVerlag,

New York 1981.

R.

On Tue, Jun 9, 2015 at 10:14 PM, Gustavo Goretkin <

gustavo [dot] goretkin [..] ...> wrote:

> I'm still wondering about this.

>

> On Sun, May 24, 2015 at 3:59 PM, Gustavo Goretkin <

> gustavo [dot] goretkin [..] ...> wrote:

>

>> I believe I understand the purpose of the *Vel types, and I'm familiar

>> with the algebra of Dual numbers, but I'm not sure what "Rall Algebra"

>> means and I couldn't find any relevant information. Is it a typo? What does

>> it mean?

>>

>> http://docs.ros.org/hydro/api/orocos_kdl/html/framevel_8hpp_source.html

>>

>>

>> 00002 * \file

>>> 00003 * This file contains the definition of classes for a

>>> 00004 * Rall Algebra of (subset of) the classes defined in frames,

>>> 00005 * i.e. classes that contain a pair (value,derivative) and

>>> define operations on that pair

>>> 00006 * this classes are usefull for automatic differentiation (

>>> <-> symbolic diff , <-> numeric diff)

>>> 00007 * Defines VectorVel, RotationVel, FrameVel. Look at

>>> Frames.h for details on how to work

>>> 00008 * with Frame objects.

>>> 00009 * \author

>>> 00010 * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven

>>>

>>

>

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