Public Member Functions | Static Public Member Functions | Public Attributes | Friends
KDL::Vector Class Reference

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

#include <frames.hpp>

List of all members.

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.
Vectoroperator+= (const Vector &arg)
 Adds a vector from the Vector object itself.
Vectoroperator-= (const Vector &arg)
 subtracts a vector from the Vector object itself
Vectoroperator= (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)
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 160 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 165 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 118 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 148 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 183 of file frames.hpp.

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

Equivalent to double& operator()(int index)

Definition at line 189 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 
) [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 264 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 263 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 163 of file frames.hpp.


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


orocos_kdl
Author(s):
autogenerated on Sat Jul 21 2018 03:48:45