A concrete implementation of a 3 dimensional vector class. More...

#include <frames.hpp>

Public Member Functions
	Vector ()
	Does not initialise the Vector to zero. use Vector::Zero() or SetToZero for that.
	Vector (double x, double y, double z)
	Constructs a vector out of the three values x, y and z.
	Vector (double *xyz)
	Constructs a vector out of an array of three values x, y and z.
	Vector (float *xyz)
	Constructs a vector out of an array of three values x, y and z.
	Vector (const Vector &arg)
	Assignment operator. The normal copy by value semantics.
void	GetValue (double *xyz) const
	store vector components in array
Vector &	operator= (const Vector &arg)
	Assignment operator. The normal copy by value semantics.
double	operator() (int index) const
	Access to elements, range checked when NDEBUG is not set, from 0..2.
double &	operator() (int index)
	Access to elements, range checked when NDEBUG is not set, from 0..2.
double	operator[] (int index) const
	Equivalent to double operator()(int index) const.
double &	operator[] (int index)
	Equivalent to double& operator()(int index).
double	x () const
void	x (double)
double	y () const
void	y (double)
double	z () const
void	z (double)
void	ReverseSign ()
	Reverses the sign of the Vector object itself.
Vector &	operator-= (const Vector &arg)
	subtracts a vector from the Vector object itself
Vector &	operator+= (const Vector &arg)
	Adds a vector from the Vector object itself.
Vector &	operator*= (double arg)
	Multiply by a scalar.
double	Normalize (double eps=epsilon)
double	Norm () const
void	Set2DXY (const Vector2 &v)
	a 3D vector where the 2D vector v is put in the XY plane
void	Set2DYZ (const Vector2 &v)
	a 3D vector where the 2D vector v is put in the YZ plane
void	Set2DZX (const Vector2 &v)
	a 3D vector where the 2D vector v is put in the ZX plane
void	Set2DPlane (const Frame &F_someframe_XY, const Vector2 &v_XY)
	a 3D vector where the 2D vector v_XY is put in the XY plane of the frame F_someframe_XY.

Static Public Member Functions
static Vector	Zero ()

Public Attributes
double	data [3]

Friends
class	Rotation
class	Frame
Vector	operator* (const Vector &lhs, double rhs)
	Scalar multiplication is defined.
Vector	operator* (double lhs, const Vector &rhs)
	Scalar multiplication is defined.
Vector	operator* (const Vector &lhs, const Vector &rhs)
Vector	operator/ (const Vector &lhs, double rhs)
	Scalar division is defined.
Vector	operator+ (const Vector &lhs, const Vector &rhs)
Vector	operator- (const Vector &lhs, const Vector &rhs)
Vector	operator- (const Vector &arg)
double	dot (const Vector &lhs, const Vector &rhs)
void	SetToZero (Vector &v)
	To have a uniform operator to put an element to zero, for scalar values and for objects.
Vector	Normalize (const Vector &a, double eps=epsilon)
	return a normalized vector
bool	Equal (const Vector &a, const Vector &b, double eps=epsilon)
	do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval
bool	operator== (const Vector &a, const Vector &b)
	The literal equality operator==(), also identical.
bool	operator!= (const Vector &a, const Vector &b)
	The literal inequality operator!=().

Detailed Description

A concrete implementation of a 3 dimensional vector class.

Definition at line 142 of file frames.hpp.

Constructor & Destructor Documentation

◆ Vector() [1/5]

KDL::Vector::Vector ( )

inline

Does not initialise the Vector to zero. use Vector::Zero() or SetToZero for that.

Definition at line 147 of file frames.hpp.

◆ Vector() [2/5]

IMETHOD Vector::Vector	(	double	x,
		double	y,
		double	z )

inline

Constructs a vector out of the three values x, y and z.

Definition at line 37 of file frames.hpp.

◆ Vector() [3/5]

IMETHOD Vector::Vector ( double * xyz )

inline

Constructs a vector out of an array of three values x, y and z.

Definition at line 42 of file frames.hpp.

◆ Vector() [4/5]

IMETHOD Vector::Vector ( float * xyz )

inline

Constructs a vector out of an array of three values x, y and z.

Definition at line 47 of file frames.hpp.

◆ Vector() [5/5]

IMETHOD Vector::Vector ( const Vector & arg )

inline

Assignment operator. The normal copy by value semantics.

Definition at line 30 of file frames.hpp.

Member Function Documentation

◆ GetValue()

IMETHOD void Vector::GetValue ( double * xyz ) const

inline

store vector components in array

Definition at line 52 of file frames.hpp.

◆ Norm()

double KDL::Vector::Norm ( ) const

Returns: the norm of the vector

Definition at line 115 of file frames.cpp.

◆ Normalize()

double KDL::Vector::Normalize ( double eps = epsilon )

Normalizes this vector and returns it norm makes v a unitvector and returns the norm of v. if v is smaller than eps, Vector(1,0,0) is returned with norm 0. if this is not good, check the return value of this method.

Definition at line 145 of file frames.cpp.

◆ operator()() [1/2]

double & Vector::operator() ( int index )

inline

Access to elements, range checked when NDEBUG is not set, from 0..2.

Definition at line 165 of file frames.hpp.

◆ operator()() [2/2]

double Vector::operator() ( int index ) const

inline

Access to elements, range checked when NDEBUG is not set, from 0..2.

Definition at line 160 of file frames.hpp.

◆ operator*=()

Vector & Vector::operator*= ( double arg )

inline

Multiply by a scalar.

Definition at line 147 of file frames.hpp.

◆ operator+=()

Vector & Vector::operator+= ( const Vector & arg )

inline

Adds a vector from the Vector object itself.

Definition at line 129 of file frames.hpp.

◆ operator-=()

Vector & Vector::operator-= ( const Vector & arg )

inline

subtracts a vector from the Vector object itself

Definition at line 138 of file frames.hpp.

◆ operator=()

IMETHOD Vector & Vector::operator= ( const Vector & arg )

inline

Assignment operator. The normal copy by value semantics.

Definition at line 58 of file frames.hpp.

◆ operator[]() [1/2]

double & KDL::Vector::operator[] ( int index )

inline

Equivalent to double& operator()(int index).

Definition at line 180 of file frames.hpp.

◆ operator[]() [2/2]

double KDL::Vector::operator[] ( int index ) const

inline

Equivalent to double operator()(int index) const.

Definition at line 174 of file frames.hpp.

◆ ReverseSign()

void Vector::ReverseSign ( )

inline

Reverses the sign of the Vector object itself.

Definition at line 450 of file frames.hpp.

◆ Set2DPlane()

void Vector::Set2DPlane	(	const Frame &	F_someframe_XY,
		const Vector2 &	v_XY )

inline

a 3D vector where the 2D vector v_XY is put in the XY plane of the frame F_someframe_XY.

Definition at line 741 of file frames.hpp.

◆ Set2DXY()

void Vector::Set2DXY ( const Vector2 & v )

inline

a 3D vector where the 2D vector v is put in the XY plane

Definition at line 468 of file frames.hpp.

◆ Set2DYZ()

void Vector::Set2DYZ ( const Vector2 & v )

inline

a 3D vector where the 2D vector v is put in the YZ plane

Definition at line 476 of file frames.hpp.

◆ Set2DZX()

void Vector::Set2DZX ( const Vector2 & v )

inline

a 3D vector where the 2D vector v is put in the ZX plane

Definition at line 485 of file frames.hpp.

◆ x() [1/2]

IMETHOD double Vector::x ( ) const

inline

Definition at line 84 of file frames.hpp.

◆ x() [2/2]

IMETHOD void Vector::x ( double _x )

inline

Definition at line 88 of file frames.hpp.

◆ y() [1/2]

IMETHOD double Vector::y ( ) const

inline

Definition at line 85 of file frames.hpp.

◆ y() [2/2]

IMETHOD void Vector::y ( double _y )

inline

Definition at line 89 of file frames.hpp.

◆ z() [1/2]

IMETHOD double Vector::z ( ) const

inline

Definition at line 86 of file frames.hpp.

◆ z() [2/2]

IMETHOD void Vector::z ( double _z )

inline

Definition at line 90 of file frames.hpp.

◆ Zero()

Vector Vector::Zero ( )

inlinestatic

Returns: a zero vector

Definition at line 155 of file frames.hpp.

◆ dot

double dot	(	const Vector &	lhs,
		const Vector &	rhs )

friend

Definition at line 1049 of file frames.hpp.

◆ Equal

bool Equal	(	const Vector &	a,
		const Vector &	b,
		double	eps = epsilon )

friend

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

Definition at line 1069 of file frames.hpp.

◆ Frame

friend class Frame

friend

Definition at line 261 of file frames.hpp.

◆ Normalize

Vector Normalize	(	const Vector &	a,
		double	eps = epsilon )

friend

return a normalized vector

Definition at line 171 of file frames.hpp.

◆ operator!=

bool operator!=	(	const Vector &	a,
		const Vector &	b )

friend

The literal inequality operator!=().

Definition at line 1367 of file frames.hpp.

◆ operator* [1/3]

Vector operator*	(	const Vector &	lhs,
		const Vector &	rhs )

friend

Definition at line 119 of file frames.hpp.

◆ operator* [2/3]

Vector operator*	(	const Vector &	lhs,
		double	rhs )

friend

Scalar multiplication is defined.

Definition at line 92 of file frames.hpp.

◆ operator* [3/3]

Vector operator*	(	double	lhs,
		const Vector &	rhs )

friend

Scalar multiplication is defined.

Definition at line 101 of file frames.hpp.

◆ operator+

Vector operator+	(	const Vector &	lhs,
		const Vector &	rhs )

friend

Definition at line 66 of file frames.hpp.

◆ operator- [1/2]

Vector operator- ( const Vector & arg )

friend

Definition at line 459 of file frames.hpp.

◆ operator- [2/2]

Vector operator-	(	const Vector &	lhs,
		const Vector &	rhs )

friend

Definition at line 75 of file frames.hpp.

◆ operator/

Vector operator/	(	const Vector &	lhs,
		double	rhs )

friend

Scalar division is defined.

Definition at line 110 of file frames.hpp.

◆ operator==

bool operator==	(	const Vector &	a,
		const Vector &	b )

friend

The literal equality operator==(), also identical.

Definition at line 1357 of file frames.hpp.

◆ Rotation

friend class Rotation

friend

Definition at line 260 of file frames.hpp.

◆ SetToZero

void SetToZero ( Vector & v )

friend

To have a uniform operator to put an element to zero, for scalar values and for objects.

Definition at line 1105 of file frames.hpp.

Member Data Documentation

◆ data

double KDL::Vector::data[3]

Definition at line 145 of file frames.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Vector() [1/5]

◆ Vector() [2/5]

◆ Vector() [3/5]

◆ Vector() [4/5]

◆ Vector() [5/5]

Member Function Documentation

◆ GetValue()

◆ Norm()

◆ Normalize()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator*=()

◆ operator+=()

◆ operator-=()

◆ operator=()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ ReverseSign()

◆ Set2DPlane()

◆ Set2DXY()

◆ Set2DYZ()

◆ Set2DZX()

◆ x() [1/2]

◆ x() [2/2]

◆ y() [1/2]

◆ y() [2/2]

◆ z() [1/2]

◆ z() [2/2]

◆ Zero()

Friends And Related Symbol Documentation

◆ dot

◆ Equal

◆ Frame

◆ Normalize

◆ operator!=

◆ operator* [1/3]

◆ operator* [2/3]

◆ operator* [3/3]

◆ operator+

◆ operator- [1/2]

◆ operator- [2/2]

◆ operator/

◆ operator==

◆ Rotation

◆ SetToZero

Member Data Documentation

◆ data