Public Member Functions | Protected Attributes | Friends
fVec3 Class Reference

3-element vector class. More...

#include <fMatrix3.h>

List of all members.

Public Member Functions

void add (const fVec3 &vec1, const fVec3 &vec2)
void add (const fVec3 &vec)
void cross (const fVec3 &vec1, const fVec3 &vec2)
 Cross product.
double * data ()
 Pointer to the first element.
void div (const fVec3 &vec, double d)
void epddot2angacc (const fEulerPara &_e, const fEulerPara &_de, const fEulerPara &_dde)
 Computes angular acceleration from the acceleration of Euler parameters.
void epdot2angvel (const fEulerPara &epara, const fEulerPara &edot)
 Computes the angular velocity from the velocity of Euler parameters.
 fVec3 ()
 fVec3 (double *ini)
 fVec3 (double ini)
 fVec3 (const fVec3 &ini)
 fVec3 (double _m1, double _m2, double _m3)
double length () const
void mat2ea_xyz (const fMat33 &mat)
 Orientation matrix to Euler angles.
void mat2ea_xyz (const fMat33 &mat, const fVec3 &ea_ref)
void mat2ea_xzy (const fMat33 &mat)
void mat2ea_yzx (const fMat33 &mat)
void mat2ea_zyx (const fMat33 &mat)
void mul (const fVec3 &vec, double d)
void mul (double d, const fVec3 &vec)
void mul (const fMat33 &mat, const fVec3 &vec)
void mul (const fVec3 &vec, const fMat33 &mat)
 v^T*M, same as mat^T * vec.
void neg (const fVec3 &vec)
 operator double * ()
double & operator() (int i)
 Access the i-th element.
double operator() (int i) const
void operator*= (double d)
void operator+= (const fVec3 &vec)
void operator-= (const fVec3 &vec)
void operator/= (double d)
void operator= (double d)
 Assignment operators.
fVec3 operator= (const fVec3 &vec)
double operator[] (int i) const
void rotation (const fMat33 &ref, const fMat33 &tgt)
 Computes the rotation from tgt to ref.
void set (double *v)
 Set element values from array or three values.
void set (double d1, double d2, double d3)
void set (const fVec3 &vec)
 Functions for basic operations.
void sub (const fVec3 &vec1, const fVec3 &vec2)
void unit ()
 Converts to unit vector.
void zero ()
 Creates a zero vector.
 ~fVec3 ()

Protected Attributes

double m1
double m2
double m3
int n_col
int n_row
double temp

Friends

double dist (const fVec3 &p1, const fVec3 &p2)
 Returns the distance between two points.
class fMat33
double length (const fVec3 &v)
 Returns the length of a vector.
fVec3 operator& (const fVec3 &vec1, const fVec3 &vec2)
fVec3 operator* (double d, const fVec3 &vec1)
fVec3 operator* (const fVec3 &vec1, double d)
double operator* (const fVec3 &vec1, const fVec3 &vec2)
fVec3 operator+ (const fVec3 &vec1, const fVec3 &vec2)
fVec3 operator- (const fVec3 &vec)
 operators
fVec3 operator- (const fVec3 &vec1, const fVec3 &vec2)
fVec3 operator/ (const fVec3 &vec, double d)
HRPBASE_EXPORT ostream & operator<< (ostream &ost, const fVec3 &mat)
 Outputs to a stream.
fVec3 unit (const fVec3 &v)
 Returns the unit vector with the same direction (with length check)

Detailed Description

3-element vector class.

Definition at line 206 of file fMatrix3.h.


Constructor & Destructor Documentation

fVec3::fVec3 ( ) [inline]

Definition at line 210 of file fMatrix3.h.

fVec3::fVec3 ( double *  ini) [inline]

Definition at line 216 of file fMatrix3.h.

fVec3::fVec3 ( double  ini) [inline]

Definition at line 224 of file fMatrix3.h.

fVec3::fVec3 ( const fVec3 ini) [inline]

Definition at line 230 of file fMatrix3.h.

fVec3::fVec3 ( double  _m1,
double  _m2,
double  _m3 
) [inline]

Definition at line 238 of file fMatrix3.h.

fVec3::~fVec3 ( ) [inline]

Definition at line 246 of file fMatrix3.h.


Member Function Documentation

void fVec3::add ( const fVec3 vec1,
const fVec3 vec2 
)

Definition at line 888 of file fMatrix3.cpp.

void fVec3::add ( const fVec3 vec)

Definition at line 895 of file fMatrix3.cpp.

void fVec3::cross ( const fVec3 vec1,
const fVec3 vec2 
)

Cross product.

Definition at line 944 of file fMatrix3.cpp.

double* fVec3::data ( ) [inline]

Pointer to the first element.

Definition at line 259 of file fMatrix3.h.

void fVec3::div ( const fVec3 vec,
double  d 
)

Definition at line 909 of file fMatrix3.cpp.

Computes angular acceleration from the acceleration of Euler parameters.

Computes angular acceleration from the acceleration of Euler parameters.

Parameters:
[in]_eCurrent orientation.
[in]_deCurrent Euler parameter velocity.
[in]_ddeCurrent Euler parameter acceleration.

Definition at line 198 of file fMatrix3.cpp.

Computes the angular velocity from the velocity of Euler parameters.

Computes the angular velocity from the velocity of Euler parameters.

Parameters:
[in]eparaCurrent orientation.
[in]edotCurrent Euler parameter velocity.

Definition at line 186 of file fMatrix3.cpp.

double fVec3::length ( void  ) const [inline]

Definition at line 296 of file fMatrix3.h.

Orientation matrix to Euler angles.

Definition at line 39 of file fMatrix3.cpp.

void fVec3::mat2ea_xyz ( const fMat33 mat,
const fVec3 ea_ref 
)

Definition at line 154 of file fMatrix3.cpp.

Definition at line 72 of file fMatrix3.cpp.

Definition at line 138 of file fMatrix3.cpp.

Definition at line 105 of file fMatrix3.cpp.

void fVec3::mul ( const fVec3 vec,
double  d 
)

Definition at line 916 of file fMatrix3.cpp.

void fVec3::mul ( double  d,
const fVec3 vec 
)

Definition at line 923 of file fMatrix3.cpp.

void fVec3::mul ( const fMat33 mat,
const fVec3 vec 
)

Definition at line 930 of file fMatrix3.cpp.

void fVec3::mul ( const fVec3 vec,
const fMat33 mat 
)

v^T*M, same as mat^T * vec.

Definition at line 937 of file fMatrix3.cpp.

void fVec3::neg ( const fVec3 vec)

Definition at line 881 of file fMatrix3.cpp.

fVec3::operator double * ( ) [inline]

Definition at line 262 of file fMatrix3.h.

double & fVec3::operator() ( int  i)

Access the i-th element.

Definition at line 541 of file fMatrix3.cpp.

double fVec3::operator() ( int  i) const

Definition at line 553 of file fMatrix3.cpp.

void fVec3::operator*= ( double  d)

Definition at line 805 of file fMatrix3.cpp.

void fVec3::operator+= ( const fVec3 vec)

Definition at line 791 of file fMatrix3.cpp.

void fVec3::operator-= ( const fVec3 vec)

Definition at line 798 of file fMatrix3.cpp.

void fVec3::operator/= ( double  d)

Definition at line 812 of file fMatrix3.cpp.

void fVec3::operator= ( double  d)

Assignment operators.

Definition at line 762 of file fMatrix3.cpp.

fVec3 fVec3::operator= ( const fVec3 vec)

Definition at line 767 of file fMatrix3.cpp.

double fVec3::operator[] ( int  i) const [inline]

Definition at line 252 of file fMatrix3.h.

void fVec3::rotation ( const fMat33 ref,
const fMat33 tgt 
)

Computes the rotation from tgt to ref.

Definition at line 954 of file fMatrix3.cpp.

void fVec3::set ( double *  v) [inline]

Set element values from array or three values.

Definition at line 314 of file fMatrix3.h.

void fVec3::set ( double  d1,
double  d2,
double  d3 
) [inline]

Definition at line 319 of file fMatrix3.h.

void fVec3::set ( const fVec3 vec)

Functions for basic operations.

Definition at line 874 of file fMatrix3.cpp.

void fVec3::sub ( const fVec3 vec1,
const fVec3 vec2 
)

Definition at line 902 of file fMatrix3.cpp.

void fVec3::unit ( ) [inline]

Converts to unit vector.

Definition at line 308 of file fMatrix3.h.

void fVec3::zero ( ) [inline]

Creates a zero vector.

Definition at line 283 of file fMatrix3.h.


Friends And Related Function Documentation

double dist ( const fVec3 p1,
const fVec3 p2 
) [friend]

Returns the distance between two points.

Definition at line 287 of file fMatrix3.h.

friend class fMat33 [friend]

Definition at line 208 of file fMatrix3.h.

double length ( const fVec3 v) [friend]

Returns the length of a vector.

Definition at line 293 of file fMatrix3.h.

fVec3 operator& ( const fVec3 vec1,
const fVec3 vec2 
) [friend]

Definition at line 773 of file fMatrix3.cpp.

fVec3 operator* ( double  d,
const fVec3 vec1 
) [friend]

Definition at line 862 of file fMatrix3.cpp.

fVec3 operator* ( const fVec3 vec1,
double  d 
) [friend]

Definition at line 853 of file fMatrix3.cpp.

double operator* ( const fVec3 vec1,
const fVec3 vec2 
) [friend]

Definition at line 846 of file fMatrix3.cpp.

fVec3 operator+ ( const fVec3 vec1,
const fVec3 vec2 
) [friend]

Definition at line 828 of file fMatrix3.cpp.

fVec3 operator- ( const fVec3 vec) [friend]

operators

Definition at line 782 of file fMatrix3.cpp.

fVec3 operator- ( const fVec3 vec1,
const fVec3 vec2 
) [friend]

Definition at line 819 of file fMatrix3.cpp.

fVec3 operator/ ( const fVec3 vec,
double  d 
) [friend]

Definition at line 837 of file fMatrix3.cpp.

HRPBASE_EXPORT ostream& operator<< ( ostream &  ost,
const fVec3 mat 
) [friend]

Outputs to a stream.

Definition at line 968 of file fMatrix3.cpp.

fVec3 unit ( const fVec3 v) [friend]

Returns the unit vector with the same direction (with length check)

Definition at line 300 of file fMatrix3.h.


Member Data Documentation

double fVec3::m1 [protected]

Definition at line 364 of file fMatrix3.h.

double fVec3::m2 [protected]

Definition at line 364 of file fMatrix3.h.

double fVec3::m3 [protected]

Definition at line 364 of file fMatrix3.h.

int fVec3::n_col [protected]

Definition at line 366 of file fMatrix3.h.

int fVec3::n_row [protected]

Definition at line 366 of file fMatrix3.h.

double fVec3::temp [protected]

Definition at line 365 of file fMatrix3.h.


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


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:43:59