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

#include <src/frames.hpp>

Public Member Functions
	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.

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

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.

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

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

double	x () const

double	y () const

double	z () const

void	x (double)

void	y (double)

void	z (double)

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

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

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

double	Normalize (double eps=epsilon)
	Normalizes this vector and returns it norm makes v a unitvector and returns the norm of v.

double	Norm (double eps=epsilon) const

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

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.

Static Public Member Functions
static Vector	Zero ()

Public Attributes
double	data [3]

Friends
class	Rotation

class	Frame

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, double rhs)
	Scalar division 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)

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

void	SetToZero (Vector &v)
	To have a uniform operator to put an element to zero, for scalar values and for objects.

bool	Equal (const Vector &a, const Vector &b, double eps=epsilon)
	do not use operator == because the definition of Equal(.,.) is slightly different.

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

bool	operator!= (const Vector &a, const Vector &b)
	The literal inequality operator!=().

Detailed Description

A concrete implementation of a 3 dimensional vector class.

Constructor & Destructor Documentation

◆ Vector() [1/3]

KDL::Vector::Vector ( )

inline

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

References data.

Referenced by Normalize().

◆ Vector() [2/3]

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

inline

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

◆ Vector() [3/3]

IMETHOD Vector::Vector ( const Vector & arg )

inline

Assignment operator. The normal copy by value semantics.

Member Function Documentation

◆ Norm()

double KDL::Vector::Norm ( double eps = epsilon ) const

Returns: the norm of the vector

References data.

Referenced by KDL::Path_RoundedComposite::Add(), KDL::Rotation::GetRotAngle(), Normalize(), and KDL::Path_Line::Path_Line().

◆ Normalize()

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.

References Norm(), and Vector().

Referenced by KDL::Path_RoundedComposite::Add(), KDL::Rotation::GetRotAngle(), KDL::Path_Circle::Path_Circle(), KDL::Path_Line::Path_Line(), KDL::Path_Line::Path_Line(), and KDL::Rotation::Rot().

◆ operator()() [1/2]

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

inline

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

◆ operator()() [2/2]

double Vector::operator() ( int index ) const

inline

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

Referenced by operator[](), and operator[]().

◆ operator+=()

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

inline

Adds a vector from the Vector object itself.

◆ operator-=()

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

inline

subtracts a vector from the Vector object itself

◆ operator=()

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

inline

Assignment operator. The normal copy by value semantics.

◆ operator[]() [1/2]

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

inline

Equivalent to double& operator()(int index)

References operator()().

◆ operator[]() [2/2]

double KDL::Vector::operator[] ( int index ) const

inline

Equivalent to double operator()(int index) const.

References operator()().

◆ ReverseSign()

void Vector::ReverseSign ( )

inline

Reverses the sign of the Vector object itself.

◆ Set2DPlane()

void 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.

◆ Set2DXY()

void Vector::Set2DXY ( const Vector2 & v )

inline

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

◆ Set2DYZ()

void Vector::Set2DYZ ( const Vector2 & v )

inline

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

◆ Set2DZX()

void Vector::Set2DZX ( const Vector2 & v )

inline

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

◆ x() [1/2]

IMETHOD double Vector::x ( ) const

inline

Referenced by KDL::TreeIkSolverPos_Online::enforceCartVelLimits().

◆ x() [2/2]

IMETHOD void Vector::x ( double _x )

inline

◆ y() [1/2]

IMETHOD double Vector::y ( ) const

inline

Referenced by KDL::TreeIkSolverPos_Online::enforceCartVelLimits().

◆ y() [2/2]

IMETHOD void Vector::y ( double _y )

inline

◆ z() [1/2]

IMETHOD double Vector::z ( ) const

inline

Referenced by KDL::TreeIkSolverPos_Online::enforceCartVelLimits().

◆ z() [2/2]

IMETHOD void Vector::z ( double _z )

inline

◆ Zero()

Vector Vector::Zero ( )

inlinestatic

Returns: a zero vector

Referenced by KDL::ChainDynParam::ChainDynParam(), KDL::ChainIdSolver_RNE::ChainIdSolver_RNE(), KDL::RigidBodyInertia::getCOG(), KDL::Joint::JointAxis(), KDL::operator>>(), KDL::TreeIdSolver_RNE::TreeIdSolver_RNE(), and KDL::RigidBodyInertia::Zero().

Friends And Related Symbol Documentation

◆ dot

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

friend

◆ Equal

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

◆ Frame

friend class Frame

friend

◆ operator!=

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

friend

The literal inequality operator!=().

◆ operator* [1/3]

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

friend

◆ operator* [2/3]

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

friend

Scalar multiplication is defined.

◆ operator* [3/3]

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

friend

Scalar multiplication is defined.

◆ operator+

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

friend

◆ operator- [1/2]

Vector operator- ( const Vector & arg )

friend

◆ operator- [2/2]

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

friend

◆ operator/

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

friend

Scalar division is defined.

◆ operator==

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

friend

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

◆ Rotation

friend class Rotation

friend

◆ SetToZero

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

◆ data

double KDL::Vector::data[3]

Referenced by KDL::TreeIkSolverVel_wdls::CartToJnt(), KDL::ChainHdSolver_Vereshchagin::constraint_calculation(), KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), Norm(), KDL::RotationalInertia::operator*(), KDL::RigidBodyInertia::RefPoint(), KDL::RigidBodyInertia::RigidBodyInertia(), KDL::Jacobian::setColumn(), KDL::Twist_to_Eigen(), and Vector().

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

◆ Vector() [1/3]

◆ Vector() [2/3]

◆ Vector() [3/3]

Member Function Documentation

◆ Norm()

◆ Normalize()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator+=()

◆ operator-=()

◆ operator=()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ ReverseSign()

◆ Set2DPlane()

◆ Set2DXY()

◆ Set2DYZ()

◆ Set2DZX()

◆ x() [1/2]

◆ x() [2/2]

◆ y() [1/2]

◆ y() [2/2]

◆ z() [1/2]

◆ z() [2/2]

◆ Zero()

Friends And Related Symbol Documentation

◆ dot

◆ Equal

◆ Frame

◆ operator!=

◆ operator* [1/3]

◆ operator* [2/3]

◆ operator* [3/3]

◆ operator+

◆ operator- [1/2]

◆ operator- [2/2]

◆ operator/

◆ operator==

◆ Rotation

◆ SetToZero

Member Data Documentation

◆ data