KDL::Vector Class Reference

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

#include <frames.hpp>

Public Member Functions
double	Norm () const
double	Normalize (double eps=epsilon)
	Normalizes this vector and returns it norm makes v a unitvector and returns the norm of v.
double &	operator() (int index)
	Access to elements, range checked when NDEBUG is not set, from 0..2.
double	operator() (int index) const
	Access to elements, range checked when NDEBUG is not set, from 0..2.
Vector &	operator+= (const Vector &arg)
	Adds a vector from the Vector object itself.
Vector &	operator-= (const Vector &arg)
	subtracts a vector from the Vector object itself
Vector &	operator= (const Vector &arg)
	Assignment operator. The normal copy by value semantics.
double &	operator[] (int index)
	Equivalent to double& operator()(int index).
double	operator[] (int index) const
	Equivalent to double operator()(int index) const.
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 (const Vector &arg)
	Assignment operator. The normal copy by value semantics.
	Vector (double x, double y, double z)
	Constructs a vector out of the three values x, y and z.
	Vector ()
	Does not initialise the Vector to zero. use Vector::Zero() or SetToZero for that.
void	x (double)
double	x () const
void	y (double)
double	y () const
void	z (double)
double	z () const
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=epsilon)
	do not use operator == because the definition of Equal(.,.
class	Frame
bool	operator!= (const Vector &a, const Vector &b)
	The literal inequality operator!=().
Vector	operator* (const Vector &lhs, const Vector &rhs)
Vector	operator* (double lhs, const Vector &rhs)
	Scalar multiplication is defined.
Vector	operator* (const Vector &lhs, double rhs)
	Scalar multiplication is defined.
Vector	operator+ (const Vector &lhs, const Vector &rhs)
Vector	operator- (const Vector &arg)
Vector	operator- (const Vector &lhs, const Vector &rhs)
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)
	To have a uniform operator to put an element to zero, for scalar values and for objects.

Detailed Description

A concrete implementation of a 3 dimensional vector class.

Definition at line 151 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 156 of file frames.hpp.

References data.

Referenced by Normalize(), and Zero().

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 38 of file frames.inl.

References data.

KDL::Vector::Vector ( const Vector & arg ) [inline]

Assignment operator. The normal copy by value semantics.

Definition at line 31 of file frames.inl.

References data.

Member Function Documentation

double KDL::Vector::Norm ( ) const

Returns:: the norm of the vector

Definition at line 108 of file frames.cpp.

References data, KDL::sqr(), and KDL::sqrt().

Referenced by KDL::Path_RoundedComposite::Add(), KDL::Rotation::GetRot(), KDL::Frame::Integrate(), KDL::VectorVel::Norm(), KDL::VectorAcc::Norm(), Normalize(), and KDL::Path_Line::Path_Line().

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 138 of file frames.cpp.

References Norm(), and Vector().

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

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

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

Definition at line 143 of file frames.inl.

References data, and FRAMES_CHECKI.

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

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

Definition at line 138 of file frames.inl.

References data, and FRAMES_CHECKI.

Referenced by operator[]().

Vector & KDL::Vector::operator+= ( const Vector & arg ) [inline]

Adds a vector from the Vector object itself.

Definition at line 115 of file frames.inl.

References data.

Vector & KDL::Vector::operator-= ( const Vector & arg ) [inline]

subtracts a vector from the Vector object itself

Definition at line 124 of file frames.inl.

References data.

Vector & KDL::Vector::operator= ( const Vector & arg ) [inline]

Assignment operator. The normal copy by value semantics.

Definition at line 44 of file frames.inl.

References data.

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

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

Definition at line 180 of file frames.hpp.

References operator()().

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

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

Definition at line 174 of file frames.hpp.

References operator()().

void KDL::Vector::ReverseSign ( ) [inline]

Reverses the sign of the Vector object itself.

Definition at line 435 of file frames.inl.

References data.

Referenced by KDL::VectorVel::ReverseSign(), KDL::Twist::ReverseSign(), KDL::Wrench::ReverseSign(), and KDL::VectorAcc::ReverseSign().

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 697 of file frames.inl.

References Set2DXY().

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 453 of file frames.inl.

References data.

Referenced by Set2DPlane().

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 461 of file frames.inl.

References data.

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 470 of file frames.inl.

References data.

void KDL::Vector::x ( double _x ) [inline]

Definition at line 74 of file frames.inl.

References data.

double KDL::Vector::x ( ) const [inline]

Definition at line 70 of file frames.inl.

References data.

void KDL::Vector::y ( double _y ) [inline]

Definition at line 75 of file frames.inl.

References data.

double KDL::Vector::y ( ) const [inline]

Definition at line 71 of file frames.inl.

References data.

void KDL::Vector::z ( double _z ) [inline]

Definition at line 76 of file frames.inl.

References data.

double KDL::Vector::z ( ) const [inline]

Definition at line 72 of file frames.inl.

References data.

Vector KDL::Vector::Zero ( ) [inline, static]

Returns:: a zero vector

Definition at line 133 of file frames.inl.

References Vector().

Referenced by KDL::ChainDynParam::ChainDynParam(), KDL::ChainIdSolver_RNE::ChainIdSolver_RNE(), KDL::Equal(), KDL::Frame::Frame(), KDL::RotationVel::Identity(), KDL::Frame::Identity(), KDL::RotationAcc::Identity(), KDL::Joint::JointAxis(), KDL::RotationVel::operator=(), KDL::RotationAcc::operator=(), KDL::SetToZero(), KDL::RigidBodyInertia::Zero(), KDL::VectorVel::Zero(), KDL::Twist::Zero(), KDL::Wrench::Zero(), and KDL::VectorAcc::Zero().

Friends And Related Function Documentation

double dot	(	const Vector &	lhs,
		const Vector &	rhs
	)			`[friend]`

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

friend class Frame [friend]

Definition at line 255 of file frames.hpp.

bool operator!=	(	const Vector &	a,
		const Vector &	b
	)			`[friend]`

The literal inequality operator!=().

Vector operator*	(	const Vector &	lhs,
		const Vector &	rhs
	)			`[friend]`

Vector operator*	(	double	lhs,
		const Vector &	rhs
	)			`[friend]`

Scalar multiplication is defined.

Vector operator*	(	const Vector &	lhs,
		double	rhs
	)			`[friend]`

Scalar multiplication is defined.

Vector operator+	(	const Vector &	lhs,
		const Vector &	rhs
	)			`[friend]`

Vector operator- ( const Vector & arg ) [friend]

Vector operator-	(	const Vector &	lhs,
		const Vector &	rhs
	)			`[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 254 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]

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

KDL::Vector Class Reference

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