"Rall Algebra" mentioned in FrameVel

Submitted by goretkin on Sun, 2015-05-24 19:59

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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"Rall Algebra" mentioned in FrameVel

Submitted by goretkin on Tue, 2015-06-09 20:16.

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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Ruben Smits's picture

"Rall Algebra" mentioned in FrameVel

Submitted by Ruben Smits on Wed, 2015-06-10 07:08.

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
>>>
>>
>
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>
>

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