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

#include <frames.hpp>

Public Member Functions
double	Norm () const
double	Normalize (double eps=epsilon)
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.
Vector &	operator+= (const Vector &arg)
	Adds a vector from the Vector object itself.
Vector &	operator-= (const Vector &arg)
	subtracts a vector from the Vector object itself
Vector &	operator= (const Vector &arg)
	Assignment operator. The normal copy by value semantics.
double	operator[] (int index) const
	Equivalent to double operator()(int index) const.
double &	operator[] (int index)
	Equivalent to double& operator()(int index)
void	ReverseSign ()
	Reverses the sign of the Vector object itself.
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.
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
	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 (const Vector &arg)
	Assignment operator. The normal copy by value semantics.
double	x () const
void	x (double)
double	y () const
void	y (double)
double	z () const
void	z (double)
Static Public Member Functions
static Vector	Zero ()
Public Attributes
double	data [3]
Friends
double	dot (const Vector &lhs, const Vector &rhs)
bool	Equal (const Vector &a, const Vector &b, double eps=epsilon)
class	Frame
bool	operator!= (const Vector &a, const Vector &b)
	The literal inequality operator!=().
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, const Vector &rhs)
Vector	operator- (const Vector &lhs, const Vector &rhs)
Vector	operator- (const Vector &arg)
Vector	operator/ (const Vector &lhs, double rhs)
	Scalar division is defined.
bool	operator== (const Vector &a, const Vector &b)
	The literal equality operator==(), also identical.
class	Rotation
void	SetToZero (Vector &v)

Detailed Description

A concrete implementation of a 3 dimensional vector class.

Definition at line 151 of file frames.hpp.

Constructor & Destructor Documentation

KDL::Vector::Vector ( ) [inline]

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

Definition at line 156 of file frames.hpp.

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

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

KDL::Vector::Vector ( const Vector & arg ) [inline]

Assignment operator. The normal copy by value semantics.

Member Function Documentation

double KDL::Vector::Norm ( ) const

Returns:: the norm of the vector

Definition at line 111 of file frames.cpp.

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 141 of file frames.cpp.

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

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

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

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

Vector& KDL::Vector::operator+= ( const Vector & arg ) [inline]

Adds a vector from the Vector object itself.

Vector& KDL::Vector::operator-= ( const Vector & arg ) [inline]

subtracts a vector from the Vector object itself

Vector& KDL::Vector::operator= ( const Vector & arg ) [inline]

Assignment operator. The normal copy by value semantics.

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

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

Definition at line 174 of file frames.hpp.

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

Equivalent to double& operator()(int index)

Definition at line 180 of file frames.hpp.

void KDL::Vector::ReverseSign ( ) [inline]

Reverses the sign of the Vector object itself.

void KDL::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.

void KDL::Vector::Set2DXY ( const Vector2 & v ) [inline]

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

void KDL::Vector::Set2DYZ ( const Vector2 & v ) [inline]

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

void KDL::Vector::Set2DZX ( const Vector2 & v ) [inline]

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

double KDL::Vector::x ( ) const [inline]

void KDL::Vector::x ( double ) [inline]

double KDL::Vector::y ( ) const [inline]

void KDL::Vector::y ( double ) [inline]

double KDL::Vector::z ( ) const [inline]

void KDL::Vector::z ( double ) [inline]

static Vector KDL::Vector::Zero ( ) [inline, static]

Returns:: a zero vector

Friends And Related Function Documentation

double dot	(	const Vector &	lhs,
		const Vector &	rhs
	)		`[friend]`

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

friend class Frame [friend]

Definition at line 255 of file frames.hpp.

bool operator!=	(	const Vector &	a,
		const Vector &	b
	)		`[friend]`

The literal inequality operator!=().

Vector operator*	(	const Vector &	lhs,
		double	rhs
	)		`[friend]`

Scalar multiplication is defined.

Vector operator*	(	double	lhs,
		const Vector &	rhs
	)		`[friend]`

Scalar multiplication is defined.

Vector operator*	(	const Vector &	lhs,
		const Vector &	rhs
	)		`[friend]`

Vector operator+	(	const Vector &	lhs,
		const Vector &	rhs
	)		`[friend]`

Vector operator-	(	const Vector &	lhs,
		const Vector &	rhs
	)		`[friend]`

Vector operator- ( const Vector & arg ) [friend]

Vector operator/	(	const Vector &	lhs,
		double	rhs
	)		`[friend]`

Scalar division is defined.

bool operator==	(	const Vector &	a,
		const Vector &	b
	)		`[friend]`

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

friend class Rotation [friend]

Definition at line 254 of file frames.hpp.

void SetToZero ( Vector & v ) [friend]

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

Member Data Documentation

double KDL::Vector::data[3]

Definition at line 154 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

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation