A three-dimensional floating point vector used for representing points and vectors in 3D with associated frame information. More...

#include <Vector3.h>

Public Member Functions
	VECTOR3 (boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >())

	VECTOR3 (boost::shared_ptr< POSE3 > pose)

	VECTOR3 (REAL x, REAL y, REAL z, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >())
	Constructs this vector with the given values.

	VECTOR3 (REAL x, REAL y, REAL z, boost::shared_ptr< POSE3 > pose)

	VECTOR3 (const REAL *array, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >())
	Constructs this vector from the given array. More...

	VECTOR3 (const REAL *array, boost::shared_ptr< POSE3 > pose)

	VECTOR3 (const VECTOR3 &source)

	VECTOR3 (const ORIGIN3 &source, boost::shared_ptr< const POSE3 > pose)

	VECTOR3 (const ORIGIN3 &source, boost::shared_ptr< POSE3 > pose)

REAL	dot (const VECTOR3 &v) const

void	normalize ()

void	normalize_or_zero ()

unsigned	size () const

bool	is_finite () const
	Determines whether all components of this vector are finite.

REAL	norm_inf () const

REAL	norm () const

REAL	norm_sq () const

VECTOR3 &	set_zero ()

VECTOR3 &	set_one ()

VECTOR3 &	set_zero (boost::shared_ptr< const POSE3 > pose)

VECTOR3 &	set_one (boost::shared_ptr< const POSE3 > pose)

bool	operator< (const VECTOR3 &v) const
	Compares the two vectors lexographically.

VECTOR3 &	operator= (const ORIGIN3 &o)

VECTOR3 &	operator= (const VECTOR3 &v)

VECTOR3	operator+ (const VECTOR3 &v) const

VECTOR3	operator- (const VECTOR3 &v) const

VECTOR3	operator+ (const ORIGIN3 &o) const

VECTOR3	operator- (const ORIGIN3 &o) const

VECTOR3 &	operator+= (const VECTOR3 &v)
	Adds two vectors in the same frame.

VECTOR3 &	operator-= (const VECTOR3 &v)
	Subtracts a vector from this (in the same frame)

VECTOR3 &	operator+= (const ORIGIN3 &o)
	Adds a vector and an origin.

VECTOR3 &	operator-= (const ORIGIN3 &o)
	Subtracts an origin from this vector.

VECTOR3 &	*operator=** (REAL scalar)

VECTOR3	operator* (REAL scalar) const

VECTOR3	operator/ (REAL scalar) const

VECTOR3 &	operator/= (REAL scalar)

VECTOR3	operator- () const

REAL *	data ()

const REAL *	data () const

unsigned	rows () const

unsigned	columns () const

VECTOR3 &	resize (unsigned m, unsigned n, bool preserve=false)

unsigned	inc () const

unsigned	leading_dim () const

REAL &	x ()

const REAL &	x () const

REAL &	y ()

const REAL &	y () const

REAL &	z ()

const REAL &	z () const

REAL &	operator[] (const unsigned i)

const REAL &	operator[] (const unsigned i) const

const REAL *	data (unsigned i) const

REAL *	data (unsigned i)

COLUMN_ITERATOR	begin ()

CONST_COLUMN_ITERATOR	begin () const

COLUMN_ITERATOR	end ()

CONST_COLUMN_ITERATOR	end () const

COLUMN_ITERATOR	column_iterator_begin ()

CONST_COLUMN_ITERATOR	column_iterator_begin () const

COLUMN_ITERATOR	column_iterator_end ()

CONST_COLUMN_ITERATOR	column_iterator_end () const

ROW_ITERATOR	row_iterator_begin ()

CONST_ROW_ITERATOR	row_iterator_begin () const

ROW_ITERATOR	row_iterator_end ()

CONST_ROW_ITERATOR	row_iterator_end () const

VECTOR3 &	resize (unsigned N, bool keep=true)

Static Public Member Functions
static REAL	dot (const VECTOR3 &v1, const VECTOR3 &v2)
	Computes the dot product between two vectors.

static VECTOR3	normalize (const VECTOR3 &v)

static REAL	norm (const VECTOR3 &v)

static REAL	norm_sq (const VECTOR3 &v)

static VECTOR3	zero (boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >())

static VECTOR3	one (boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >())

static VECTOR3	cross (const VECTOR3 &v1, const VECTOR3 &v2)
	Computes the cross-product of two vectors.

static VECTOR3	determine_orthogonal_vec (const VECTOR3 &v)
	Determines a vector orthogonal to v. More...

static void	determine_orthonormal_basis (const VECTOR3 &v1, VECTOR3 &v2, VECTOR3 &v3)
	Computes an orthonormal basis, given a single vector. More...

Public Attributes
boost::shared_ptr< const POSE3 >	pose
	The frame that this vector is defined in.

Detailed Description

A three-dimensional floating point vector used for representing points and vectors in 3D with associated frame information.

Constructor & Destructor Documentation

VECTOR3::VECTOR3	(	const REAL *	array,
		boost::shared_ptr< const POSE3 >	pose = `boost::shared_ptr<const POSE3>()`
	)

Constructs this vector from the given array.

Parameters

array a 3-dimensional (or larger) array

References pose.

Member Function Documentation

VECTOR3 VECTOR3::determine_orthogonal_vec ( const VECTOR3 & v )

static

Determines a vector orthogonal to v.

Note: the returned vector is not normalized

References cross(), and pose.

Referenced by determine_orthonormal_basis().

void VECTOR3::determine_orthonormal_basis	(	const VECTOR3 &	v1,
		VECTOR3 &	v2,
		VECTOR3 &	v3
	)

static

Computes an orthonormal basis, given a single vector.

Returns: an orthonormal basis constructed from a single 3D vector, v1; v1 x v2 = v3

References cross(), and determine_orthogonal_vec().

Referenced by SPHERICALJOINT::assign_axes(), REVOLUTEJOINT::set_axis(), and PLANARJOINT::update_spatial_axes().

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

/home/drum/Ravelin.new/include/Ravelin/Vector3.h
/home/drum/Ravelin.new/src/Vector3.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation