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. More...

double &	operator() (int index)
	Access to elements, range checked when NDEBUG is not set, from 0..2. More...

Vector &	operator+= (const Vector &arg)
	Adds a vector from the Vector object itself. More...

Vector &	operator-= (const Vector &arg)
	subtracts a vector from the Vector object itself More...

Vector &	operator= (const Vector &arg)
	Assignment operator. The normal copy by value semantics. More...

double	operator[] (int index) const
	Equivalent to double operator()(int index) const. More...

double &	operator[] (int index)
	Equivalent to double& operator()(int index) More...

void	ReverseSign ()
	Reverses the sign of the Vector object itself. More...

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. More...

void	Set2DXY (const Vector2 &v)
	a 3D vector where the 2D vector v is put in the XY plane More...

void	Set2DYZ (const Vector2 &v)
	a 3D vector where the 2D vector v is put in the YZ plane More...

void	Set2DZX (const Vector2 &v)
	a 3D vector where the 2D vector v is put in the ZX plane More...

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

	Vector (double x, double y, double z)
	Constructs a vector out of the three values x, y and z. More...

	Vector (const Vector &arg)
	Assignment operator. The normal copy by value semantics. More...

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!=(). More...

Vector	operator* (const Vector &lhs, double rhs)
	Scalar multiplication is defined. More...

Vector	operator* (double lhs, const Vector &rhs)
	Scalar multiplication is defined. More...

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. More...

bool	operator== (const Vector &a, const Vector &b)
	The literal equality operator==(), also identical. More...

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.

IMETHOD KDL::Vector::Vector	(	double	x,
		double	y,
		double	z
	)

inline

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

Definition at line 44 of file frames.hpp.

IMETHOD KDL::Vector::Vector ( const Vector & arg )

inline

Assignment operator. The normal copy by value semantics.

Definition at line 37 of file frames.hpp.

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.

Definition at line 144 of file frames.hpp.

double & KDL::Vector::operator() ( int index )

inline

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

Definition at line 149 of file frames.hpp.

Vector & KDL::Vector::operator+= ( const Vector & arg )

inline

Adds a vector from the Vector object itself.

Definition at line 121 of file frames.hpp.

Vector & KDL::Vector::operator-= ( const Vector & arg )

inline

subtracts a vector from the Vector object itself

Definition at line 130 of file frames.hpp.

IMETHOD Vector & KDL::Vector::operator= ( const Vector & arg )

inline

Assignment operator. The normal copy by value semantics.

Definition at line 50 of file frames.hpp.

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.

Definition at line 441 of file frames.hpp.

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.

Definition at line 703 of file frames.hpp.

void KDL::Vector::Set2DXY ( const Vector2 & v )

inline

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

Definition at line 459 of file frames.hpp.

void KDL::Vector::Set2DYZ ( const Vector2 & v )

inline

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

Definition at line 467 of file frames.hpp.

void KDL::Vector::Set2DZX ( const Vector2 & v )

inline

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

Definition at line 476 of file frames.hpp.

IMETHOD double KDL::Vector::x ( ) const

inline

Definition at line 76 of file frames.hpp.

IMETHOD void KDL::Vector::x ( double _x )

inline

Definition at line 80 of file frames.hpp.

IMETHOD double KDL::Vector::y ( ) const

inline

Definition at line 77 of file frames.hpp.

IMETHOD void KDL::Vector::y ( double _y )

inline

Definition at line 81 of file frames.hpp.

IMETHOD double KDL::Vector::z ( ) const

inline

Definition at line 78 of file frames.hpp.

IMETHOD void KDL::Vector::z ( double _z )

inline

Definition at line 82 of file frames.hpp.

Vector KDL::Vector::Zero ( )

inlinestatic

Returns: a zero vector

Definition at line 139 of file frames.hpp.

Friends And Related Function Documentation

double dot	(	const Vector &	lhs,
		const Vector &	rhs
	)

friend

Definition at line 1006 of file frames.hpp.

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

Definition at line 1026 of file frames.hpp.

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!=().

Definition at line 1292 of file frames.hpp.

Vector operator*	(	const Vector &	lhs,
		double	rhs
	)

friend

Scalar multiplication is defined.

Definition at line 84 of file frames.hpp.

Vector operator*	(	double	lhs,
		const Vector &	rhs
	)

friend

Scalar multiplication is defined.

Definition at line 93 of file frames.hpp.

Vector operator*	(	const Vector &	lhs,
		const Vector &	rhs
	)

friend

Definition at line 111 of file frames.hpp.

Vector operator+	(	const Vector &	lhs,
		const Vector &	rhs
	)

friend

Definition at line 58 of file frames.hpp.

Vector operator-	(	const Vector &	lhs,
		const Vector &	rhs
	)

friend

Definition at line 67 of file frames.hpp.

Vector operator- ( const Vector & arg )

friend

Definition at line 450 of file frames.hpp.

Vector operator/	(	const Vector &	lhs,
		double	rhs
	)

friend

Scalar division is defined.

Definition at line 102 of file frames.hpp.

bool operator==	(	const Vector &	a,
		const Vector &	b
	)

friend

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

Definition at line 1282 of file frames.hpp.

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.

Definition at line 1062 of file frames.hpp.

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:

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