vec3 Class Reference

A 3-dimensional double vector and methods to operate on them. More...

#include <matvec3D.h>

Inheritance diagram for vec3:

Public Member Functions
double	len () const
double	len_sq () const
vec3 const &	operator*= (double s)
vec3 const &	operator+= (vec3 const &v)
vec3 const &	operator-= (vec3 const &v)
vec3 const &	operator/= (double s)
bool	operator< (vec3 const &v) const
vec3 const &	operator= (vec3 const &v)
bool	operator== (vec3 const &v) const
double &	operator[] (int i)
const double &	operator[] (int i) const
void	perpVectors (vec3 &v1, vec3 &v2)
void	set (const SbVec3f &v)
void	set (double x, double y, double z)
void	set (double v[3])
void	set (const vec3 &v)
SbVec3f	toSbVec3f () const
void	toSbVec3f (SbVec3f &v) const
	vec3 (double x, double y, double z)
	vec3 (const SbVec3f &v)
	vec3 (double v[3])
	vec3 (const vec3 &v)
	vec3 ()
double &	x ()
double	x () const
double &	y ()
double	y () const
double &	z ()
double	z () const
Static Public Attributes
static const vec3	X
	The vector [1,0,0].
static const vec3	Y
	The vector [0,1,0].
static const vec3	Z
	The vector [0,0,1].
static const vec3	ZERO
	The vector [0,0,0].
Private Attributes
double	vec [3]
	Storarge for the 3 vector coordinates.
Friends
vec3	normalise (vec3 const &v)
double	operator% (vec3 const &v, position const &p)
double	operator% (position const &p, vec3 const &v)
double	operator% (vec3 const &v1, vec3 const &v2)
vec3	operator* (vec3 const &v1, vec3 const &v2)
vec3	operator* (vec3 const &v, transf const &tr)
vec3	operator* (mat3 const &m, vec3 const &v)
vec3	operator* (vec3 const &v, double s)
vec3	operator* (double s, vec3 const &v)
vec3	operator+ (vec3 const &v1, vec3 const &v2)
vec3	operator- (vec3 const &v)
vec3	operator- (vec3 const &v1, vec3 const &v2)
vec3	operator/ (vec3 const &v, double s)
std::ostream &	operator<< (std::ostream &os, const vec3 &v)
vec3	operator> (vec3 const &v, transf const &tr)
std::istream &	operator>> (std::istream &is, vec3 &v)

Detailed Description

A 3-dimensional double vector and methods to operate on them.

vec3 is stored as an array of 3 doubles.

Definition at line 53 of file matvec3D.h.

Constructor & Destructor Documentation

vec3::vec3 ( ) [inline]

Default constructor, vector is uninitialized.

Definition at line 60 of file matvec3D.h.

vec3::vec3 ( const vec3 & v ) [inline]

Copy constructor.

Definition at line 63 of file matvec3D.h.

vec3::vec3 ( double v[3] ) [inline]

Initializes the vector with the three values in the array v.

Definition at line 66 of file matvec3D.h.

vec3::vec3 ( const SbVec3f & v ) [inline]

Initializes the vector with the values from the Inventor vector v.

Definition at line 69 of file matvec3D.h.

vec3::vec3	(	double	x,
		double	y,
		double	z
	)			`[inline]`

Initializes the vector with the values x,y,z.

Definition at line 72 of file matvec3D.h.

Member Function Documentation

double vec3::len ( ) const [inline]

Returns the length of this vector.

Definition at line 612 of file matvec3D.h.

double vec3::len_sq ( ) const [inline]

Returns the squared length of this vector.

Definition at line 621 of file matvec3D.h.

vec3 const & vec3::operator*= ( double s ) [inline]

Scales this vector by s.

Definition at line 636 of file matvec3D.h.

vec3 const & vec3::operator+= ( vec3 const & v ) [inline]

Adds vector v to this vector.

Definition at line 659 of file matvec3D.h.

vec3 const & vec3::operator-= ( vec3 const & v ) [inline]

Subtract vector v from this vector.

Definition at line 667 of file matvec3D.h.

vec3 const & vec3::operator/= ( double s ) [inline]

Scales this vector by 1/s.

Definition at line 675 of file matvec3D.h.

bool vec3::operator< ( vec3 const & v ) const [inline]

Compares 2 vectors lexigraphically. Returns true if this vector comes before vector v. Vectors are ordered on z axis then y and then x.

Definition at line 695 of file matvec3D.h.

vec3 const & vec3::operator= ( vec3 const & v ) [inline]

Copies the vector v.

Definition at line 628 of file matvec3D.h.

bool vec3::operator== ( vec3 const & v ) const [inline]

Compares if 2 vectors are within resabs distance from each other.

Definition at line 683 of file matvec3D.h.

double& vec3::operator[] ( int i ) [inline]

Returns a reference to the value at index i.

Definition at line 78 of file matvec3D.h.

const double& vec3::operator[] ( int i ) const [inline]

Returns a constant reference to the value at index i.

Definition at line 75 of file matvec3D.h.

void vec3::perpVectors	(	vec3 &	v1,
		vec3 &	v2
	)

Returns two vectors that are perpendicular to this vector and each other.

Definition at line 61 of file matvec.cpp.

void vec3::set ( const SbVec3f & v ) [inline]

Sets the values in this vector with the values from the Inventor vector v.

Definition at line 553 of file matvec3D.h.

void vec3::set	(	double	x,
		double	y,
		double	z
	)			`[inline]`

Sets the 3 values in this vector to x, y, z.

Definition at line 87 of file matvec3D.h.

void vec3::set ( double v[3] ) [inline]

Sets the 3 values in this vector to the 3 values in the array v.

Definition at line 84 of file matvec3D.h.

void vec3::set ( const vec3 & v ) [inline]

Copies vector v.

Definition at line 81 of file matvec3D.h.

SbVec3f vec3::toSbVec3f ( ) const [inline]

Converts this vector into an Inventor vector and returns it.

Definition at line 576 of file matvec3D.h.

void vec3::toSbVec3f ( SbVec3f & v ) const [inline]

Converts the values of this vector into floats and stores them in the provided Inventor vector.

Definition at line 565 of file matvec3D.h.

double& vec3::x ( ) [inline]

Returns a reference to the x-coordinate of this vector.

Definition at line 118 of file matvec3D.h.

double vec3::x ( ) const [inline]

Returns the x-coordinate of this vector.

Definition at line 109 of file matvec3D.h.

double& vec3::y ( ) [inline]

Returns a reference to the y-coordinate of this vector.

Definition at line 121 of file matvec3D.h.

double vec3::y ( ) const [inline]

Returns the y-coordinate of this vector.

Definition at line 112 of file matvec3D.h.

double& vec3::z ( ) [inline]

Returns a reference to the z-coordinate of this vector.

Definition at line 124 of file matvec3D.h.

double vec3::z ( ) const [inline]

Returns the z-coordinate of this vector.

Definition at line 115 of file matvec3D.h.

Friends And Related Function Documentation

vec3 normalise ( vec3 const & v ) [friend]

Returns a new unit vector that is the normalized version of vector v.

Definition at line 779 of file matvec3D.h.

double operator%	(	vec3 const &	v,
		position const &	p
	)			`[friend]`

Returns the dot product of vector v and position p.

Definition at line 720 of file matvec3D.h.

double operator%	(	position const &	p,
		vec3 const &	v
	)			`[friend]`

Returns the dot product of vector v and position p.

Definition at line 713 of file matvec3D.h.

double operator%	(	vec3 const &	v1,
		vec3 const &	v2
	)			`[friend]`

Returns the dot product of vectors v1 and v2.

Definition at line 585 of file matvec3D.h.

vec3 operator*	(	vec3 const &	v1,
		vec3 const &	v2
	)			`[friend]`

Returns the cross product of vectors v1 and v2 ( v1 x v2 ).

Definition at line 739 of file matvec3D.h.

vec3 operator*	(	vec3 const &	v,
		transf const &	tr
	)			`[friend]`

Returns a vector that is the result of rotating vector v using transform tr.

Definition at line 1328 of file matvec3D.h.

vec3 operator*	(	mat3 const &	m,
		vec3 const &	v
	)			`[friend]`

Definition at line 727 of file matvec3D.h.

vec3 operator*	(	vec3 const &	v,
		double	s
	)			`[friend]`

Returns a new vector that is the result of scaling this vector by s.

Definition at line 603 of file matvec3D.h.

vec3 operator*	(	double	s,
		vec3 const &	v
	)			`[friend]`

Returns a new vector that is the result of scaling this vector by s.

Definition at line 594 of file matvec3D.h.

vec3 operator+	(	vec3 const &	v1,
		vec3 const &	v2
	)			`[friend]`

Returns the sum of vectors v1 and v2.

Definition at line 748 of file matvec3D.h.

vec3 operator- ( vec3 const & v ) [friend]

Returns a vector that is the negative of vector v. (unary minus)

Definition at line 764 of file matvec3D.h.

vec3 operator-	(	vec3 const &	v1,
		vec3 const &	v2
	)			`[friend]`

Returns the difference between vectors v1 and v2.

Definition at line 756 of file matvec3D.h.

vec3 operator/	(	vec3 const &	v,
		double	s
	)			`[friend]`

Returns a new vector that is the result of scaling this vector by 1/s.

Definition at line 772 of file matvec3D.h.

std::ostream& operator<<	(	std::ostream &	os,
		const vec3 &	v
	)			`[friend]`

Writes the values of vector v to a stream os in the format "[#, #, #]".

Definition at line 425 of file matvec.cpp.

vec3 operator>	(	vec3 const &	v,
		transf const &	tr
	)			`[friend]`

Definition at line 1334 of file matvec3D.h.

std::istream& operator>>	(	std::istream &	is,
		vec3 &	v
	)			`[friend]`

Reads the values of a vector v from stream is formatted as "[#, #, #]"

Definition at line 407 of file matvec.cpp.

Member Data Documentation

double vec3::vec[3] [private]

Storarge for the 3 vector coordinates.

Definition at line 56 of file matvec3D.h.

const vec3 vec3::X [static]

The vector [1,0,0].

Definition at line 155 of file matvec3D.h.

const vec3 vec3::Y [static]

The vector [0,1,0].

Definition at line 158 of file matvec3D.h.

const vec3 vec3::Z [static]

The vector [0,0,1].

Definition at line 161 of file matvec3D.h.

const vec3 vec3::ZERO [static]

The vector [0,0,0].

Definition at line 152 of file matvec3D.h.

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

/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/matvec3D.h
/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/matvec.cpp

vec3 Class Reference

Public Member Functions

Static Public Attributes

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation