3-element vector class. More...

#include <fMatrix3.h>

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. More...

double *	data ()
	Pointer to the first element. More...

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. More...

void	epdot2angvel (const fEulerPara &epara, const fEulerPara &edot)
	Computes the angular velocity from the velocity of Euler parameters. More...

	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. More...

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^TM, same as mat^T vec. More...

void	neg (const fVec3 &vec)

	operator double * ()

double &	operator() (int i)
	Access the i-th element. More...

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. More...

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. More...

void	set (double *v)
	Set element values from array or three values. More...

void	set (double d1, double d2, double d3)

void	set (const fVec3 &vec)
	Functions for basic operations. More...

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

void	unit ()
	Converts to unit vector. More...

void	zero ()
	Creates a zero vector. More...

	~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. More...

class	fMat33

double	length (const fVec3 &v)
	Returns the length of a vector. More...

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 More...

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. More...

fVec3	unit (const fVec3 &v)
	Returns the unit vector with the same direction (with length check) More...

Detailed Description

3-element vector class.

Definition at line 206 of file fMatrix3.h.

Constructor & Destructor Documentation

◆ fVec3() [1/5]

fVec3::fVec3 ( )

inline

Definition at line 210 of file fMatrix3.h.

◆ fVec3() [2/5]

fVec3::fVec3 ( double * ini )

inline

Definition at line 216 of file fMatrix3.h.

◆ fVec3() [3/5]

fVec3::fVec3 ( double ini )

inline

Definition at line 224 of file fMatrix3.h.

◆ fVec3() [4/5]

fVec3::fVec3 ( const fVec3 & ini )

inline

Definition at line 230 of file fMatrix3.h.

◆ fVec3() [5/5]

fVec3::fVec3	(	double	_m1,
		double	_m2,
		double	_m3
	)

inline

Definition at line 238 of file fMatrix3.h.

◆ ~fVec3()

fVec3::~fVec3 ( )

inline

Definition at line 246 of file fMatrix3.h.

Member Function Documentation

◆ add() [1/2]

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

Definition at line 888 of file fMatrix3.cpp.

◆ add() [2/2]

void fVec3::add ( const fVec3 & vec )

Definition at line 895 of file fMatrix3.cpp.

◆ cross()

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

Cross product.

Definition at line 944 of file fMatrix3.cpp.

◆ data()

double* fVec3::data ( )

inline

Pointer to the first element.

Definition at line 259 of file fMatrix3.h.

◆ div()

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

Definition at line 909 of file fMatrix3.cpp.

◆ epddot2angacc()

void fVec3::epddot2angacc	(	const fEulerPara &	_e,
		const fEulerPara &	_de,
		const fEulerPara &	_dde
	)

Computes angular acceleration from the acceleration of Euler parameters.

Parameters

[in]	_e	Current orientation.
[in]	_de	Current Euler parameter velocity.
[in]	_dde	Current Euler parameter acceleration.

Definition at line 198 of file fMatrix3.cpp.

◆ epdot2angvel()

void fVec3::epdot2angvel	(	const fEulerPara &	epara,
		const fEulerPara &	edot
	)

Computes the angular velocity from the velocity of Euler parameters.

Parameters

[in]	epara	Current orientation.
[in]	edot	Current Euler parameter velocity.

Definition at line 186 of file fMatrix3.cpp.

◆ length()

double fVec3::length ( void ) const

inline

Definition at line 296 of file fMatrix3.h.

◆ mat2ea_xyz() [1/2]

void fVec3::mat2ea_xyz ( const fMat33 & mat )

Orientation matrix to Euler angles.

Definition at line 39 of file fMatrix3.cpp.

◆ mat2ea_xyz() [2/2]

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

Definition at line 154 of file fMatrix3.cpp.

◆ mat2ea_xzy()

void fVec3::mat2ea_xzy ( const fMat33 & mat )

Definition at line 72 of file fMatrix3.cpp.

◆ mat2ea_yzx()

void fVec3::mat2ea_yzx ( const fMat33 & mat )

Definition at line 138 of file fMatrix3.cpp.

◆ mat2ea_zyx()

void fVec3::mat2ea_zyx ( const fMat33 & mat )

Definition at line 105 of file fMatrix3.cpp.

◆ mul() [1/4]

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

Definition at line 916 of file fMatrix3.cpp.

◆ mul() [2/4]

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

Definition at line 923 of file fMatrix3.cpp.

◆ mul() [3/4]

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

Definition at line 930 of file fMatrix3.cpp.

◆ mul() [4/4]

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.

◆ neg()

void fVec3::neg ( const fVec3 & vec )

Definition at line 881 of file fMatrix3.cpp.

◆ operator double *()

fVec3::operator double * ( )

inline

Definition at line 262 of file fMatrix3.h.

◆ operator()() [1/2]

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

Access the i-th element.

Definition at line 541 of file fMatrix3.cpp.

◆ operator()() [2/2]

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

Definition at line 553 of file fMatrix3.cpp.

◆ operator*=()

void fVec3::operator*= ( double d )

Definition at line 805 of file fMatrix3.cpp.

◆ operator+=()

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

Definition at line 791 of file fMatrix3.cpp.

◆ operator-=()

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

Definition at line 798 of file fMatrix3.cpp.

◆ operator/=()

void fVec3::operator/= ( double d )

Definition at line 812 of file fMatrix3.cpp.

◆ operator=() [1/2]

void fVec3::operator= ( double d )

Assignment operators.

Definition at line 762 of file fMatrix3.cpp.

◆ operator=() [2/2]

fVec3 fVec3::operator= ( const fVec3 & vec )

Definition at line 767 of file fMatrix3.cpp.

◆ operator[]()

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

inline

Definition at line 252 of file fMatrix3.h.

◆ rotation()

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

Computes the rotation from tgt to ref.

Definition at line 954 of file fMatrix3.cpp.

◆ set() [1/3]

void fVec3::set ( double * v )

inline

Set element values from array or three values.

Definition at line 314 of file fMatrix3.h.

◆ set() [2/3]

void fVec3::set	(	double	d1,
		double	d2,
		double	d3
	)

inline

Definition at line 319 of file fMatrix3.h.

◆ set() [3/3]

void fVec3::set ( const fVec3 & vec )

Functions for basic operations.

Definition at line 874 of file fMatrix3.cpp.

◆ sub()

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

Definition at line 902 of file fMatrix3.cpp.

◆ unit()

void fVec3::unit ( )

inline

Converts to unit vector.

Definition at line 308 of file fMatrix3.h.

◆ zero()

void fVec3::zero ( )

inline

Creates a zero vector.

Definition at line 283 of file fMatrix3.h.

Friends And Related Function Documentation

◆ dist

double dist	(	const fVec3 &	p1,
		const fVec3 &	p2
	)

friend

Returns the distance between two points.

Definition at line 287 of file fMatrix3.h.

◆ fMat33

friend class fMat33

friend

Definition at line 208 of file fMatrix3.h.

◆ length

double length ( const fVec3 & v )

friend

Returns the length of a vector.

Definition at line 293 of file fMatrix3.h.

◆ operator&

fVec3 operator &	(	const fVec3 &	vec1,
		const fVec3 &	vec2
	)

friend

Definition at line 773 of file fMatrix3.cpp.

◆ operator* [1/3]

fVec3 operator*	(	double	d,
		const fVec3 &	vec1
	)

friend

Definition at line 862 of file fMatrix3.cpp.

◆ operator* [2/3]

fVec3 operator*	(	const fVec3 &	vec1,
		double	d
	)

friend

Definition at line 853 of file fMatrix3.cpp.

◆ operator* [3/3]

double operator*	(	const fVec3 &	vec1,
		const fVec3 &	vec2
	)

friend

Definition at line 846 of file fMatrix3.cpp.

◆ operator+

fVec3 operator+	(	const fVec3 &	vec1,
		const fVec3 &	vec2
	)

friend

Definition at line 828 of file fMatrix3.cpp.

◆ operator- [1/2]

fVec3 operator- ( const fVec3 & vec )

friend

operators

Definition at line 782 of file fMatrix3.cpp.

◆ operator- [2/2]

fVec3 operator-	(	const fVec3 &	vec1,
		const fVec3 &	vec2
	)

friend

Definition at line 819 of file fMatrix3.cpp.

◆ operator/

fVec3 operator/	(	const fVec3 &	vec,
		double	d
	)

friend

Definition at line 837 of file fMatrix3.cpp.

◆ operator<<

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

friend

Outputs to a stream.

Definition at line 968 of file fMatrix3.cpp.

◆ unit

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

◆ m1

double fVec3::m1

protected

Definition at line 364 of file fMatrix3.h.

◆ m2

double fVec3::m2

protected

Definition at line 364 of file fMatrix3.h.

◆ m3

double fVec3::m3

protected

Definition at line 364 of file fMatrix3.h.

◆ n_col

int fVec3::n_col

protected

Definition at line 366 of file fMatrix3.h.

◆ n_row

int fVec3::n_row

protected

Definition at line 366 of file fMatrix3.h.

◆ temp

double fVec3::temp

protected

Definition at line 365 of file fMatrix3.h.

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

Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ fVec3() [1/5]

◆ fVec3() [2/5]

◆ fVec3() [3/5]

◆ fVec3() [4/5]

◆ fVec3() [5/5]

◆ ~fVec3()

Member Function Documentation

◆ add() [1/2]

◆ add() [2/2]

◆ cross()

◆ data()

◆ div()

◆ epddot2angacc()

◆ epdot2angvel()

◆ length()

◆ mat2ea_xyz() [1/2]

◆ mat2ea_xyz() [2/2]

◆ mat2ea_xzy()

◆ mat2ea_yzx()

◆ mat2ea_zyx()

◆ mul() [1/4]

◆ mul() [2/4]

◆ mul() [3/4]

◆ mul() [4/4]

◆ neg()

◆ operator double *()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator*=()

◆ operator+=()

◆ operator-=()

◆ operator/=()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator[]()

◆ rotation()

◆ set() [1/3]

◆ set() [2/3]

◆ set() [3/3]

◆ sub()

◆ unit()

◆ zero()

Friends And Related Function Documentation

◆ dist

◆ fMat33

◆ length

◆ operator&

◆ operator* [1/3]

◆ operator* [2/3]

◆ operator* [3/3]

◆ operator+

◆ operator- [1/2]

◆ operator- [2/2]

◆ operator/

◆ operator<<

◆ unit

Member Data Documentation

◆ m1

◆ m2

◆ m3

◆ n_col

◆ n_row

◆ temp