The Vector3 class represents the generic vector containing 3 elements. More...

#include <math/gzmath.hh>

Public Member Functions
	Vector3 ()
	Constructor. More...

	Vector3 (const double &_x, const double &_y, const double &_z)
	Constructor. More...

	Vector3 (const ignition::math::Vector3d &_v)
	Ignition math copy constructor. More...

	Vector3 (const Vector3 &_v)
	Copy constructor. More...

virtual	~Vector3 ()
	Destructor. More...

void	Correct ()
	Corrects any nan values. More...

Vector3	Cross (const Vector3 &_pt) const
	Return the cross product of this vector and pt. More...

double	Distance (const Vector3 &_pt) const
	Calc distance to the given point. More...

double	Distance (double _x, double _y, double _z) const
	Calc distance to the given point. More...

double	Dot (const Vector3 &_pt) const
	Return the dot product of this vector and pt. More...

bool	Equal (const Vector3 &_v) const
	Equality test. More...

Vector3	GetAbs () const
	Get the absolute value of the vector. More...

double	GetDistToLine (const Vector3 &_pt1, const Vector3 &_pt2)
	Get distance to a line. More...

double	GetLength () const
	Returns the length (magnitude) of the vector \ return the length. More...

double	GetMax () const
	Get the maximum value in the vector. More...

double	GetMin () const
	Get the minimum value in the vector. More...

Vector3	GetPerpendicular () const
	Return a vector that is perpendicular to this one. More...

Vector3	GetRounded () const
	Get a rounded version of this vector. More...

double	GetSquaredLength () const
	Return the square of the length (magnitude) of the vector. More...

double	GetSum () const
	Return the sum of the values. More...

ignition::math::Vector3d	Ign () const
	Convert this vector to an ignition::math::Vector3d. More...

bool	IsFinite () const
	See if a point is finite (e.g., not nan) More...

Vector3	Normalize ()
	Normalize the vector length. More...

bool	operator!= (const Vector3 &_v) const
	Not equal to operator. More...

Vector3	operator* (const Vector3 &_p) const
	Multiplication operator. More...

Vector3	operator* (double _v) const
	Multiplication operators. More...

const Vector3 &	operator*= (const Vector3 &_v)
	Multiplication operators. More...

const Vector3 &	operator*= (double _v)
	Multiplication operator. More...

Vector3	operator+ (const Vector3 &_v) const
	Addition operator. More...

const Vector3 &	operator+= (const Vector3 &_v)
	Addition assignment operator. More...

Vector3	operator- () const
	Negation operator. More...

Vector3	operator- (const Vector3 &_pt) const
	Subtraction operators. More...

const Vector3 &	operator-= (const Vector3 &_pt)
	Subtraction operators. More...

const Vector3	operator/ (const Vector3 &_pt) const
	Division operator. More...

const Vector3	operator/ (double _v) const
	Division operator. More...

const Vector3 &	operator/= (const Vector3 &_pt)
	Division assignment operator. More...

const Vector3 &	operator/= (double _v)
	Division operator. More...

Vector3 &	operator= (const ignition::math::Vector3d &_v)
	Assignment operator for ignition math. More...

Vector3 &	operator= (const Vector3 &_v)
	Assignment operator. More...

Vector3 &	operator= (double _value)
	Assignment operator. More...

bool	operator== (const Vector3 &_pt) const
	Equal to operator. More...

double	operator[] (unsigned int index) const
	[] operator More...

Vector3	Round ()
	Round to near whole number, return the result. More...

void	Round (int _precision)
	Round all values to _precision decimal places. More...

void	Set (double _x=0, double _y=0, double _z=0)
	Set the contents of the vector. More...

void	SetToMax (const Vector3 &_v)
	Set this vector's components to the maximum of itself and the passed in vector. More...

void	SetToMin (const Vector3 &_v)
	Set this vector's components to the minimum of itself and the passed in vector. More...

Static Public Member Functions
static Vector3	GetNormal (const Vector3 &_v1, const Vector3 &_v2, const Vector3 &_v3)
	Get a normal vector to a triangle. More...

Public Attributes
double	x
	X location. More...

double	y
	Y location. More...

double	z
	Z location. More...

Static Public Attributes
static const Vector3	One
	math::Vector3(1, 1, 1) More...

static const Vector3	UnitX
	math::Vector3(1, 0, 0) More...

static const Vector3	UnitY
	math::Vector3(0, 1, 0) More...

static const Vector3	UnitZ
	math::Vector3(0, 0, 1) More...

static const Vector3	Zero
	math::Vector3(0, 0, 0) More...

Friends
Vector3	operator* (double _s, const Vector3 &_v)
	Multiplication operators. More...

std::ostream &	operator<< (std::ostream &_out, const gazebo::math::Vector3 &_pt)
	Stream insertion operator. More...

std::istream &	operator>> (std::istream &_in, gazebo::math::Vector3 &_pt)
	Stream extraction operator. More...

Detailed Description

The Vector3 class represents the generic vector containing 3 elements.

Since it's commonly used to keep coordinate system related information, its elements are labeled by x, y, z.

Constructor & Destructor Documentation

§ Vector3() [1/4]

Vector3 ( )

Constructor.

Referenced by Vector3::operator-().

§ Vector3() [2/4]

Vector3	(	const double &	_x,
		const double &	_y,
		const double &	_z
	)

Constructor.

Parameters

[in]	_x	value along x
[in]	_y	value along y
[in]	_z	value along z

§ Vector3() [3/4]

Vector3 ( const ignition::math::Vector3d & _v )

Ignition math copy constructor.

Parameters

[in] _v a vector

§ Vector3() [4/4]

Vector3 ( const Vector3 & _v )

Copy constructor.

Parameters

[in] _v a vector

§ ~Vector3()

virtual ~Vector3 ( )

virtual

Destructor.

Member Function Documentation

§ Correct()

void Correct ( )

inline

Corrects any nan values.

References Vector3::Equal(), Vector3::operator[](), Vector3::Round(), Vector3::x, Vector3::y, and Vector3::z.

Referenced by Pose::Correct().

§ Cross()

Vector3 Cross ( const Vector3 & _pt ) const

Return the cross product of this vector and pt.

Returns: the product

Referenced by Vector3::Set().

§ Distance() [1/2]

double Distance ( const Vector3 & _pt ) const

Calc distance to the given point.

Parameters

[in] _pt the point

Returns: the distance

§ Distance() [2/2]

double Distance	(	double	_x,
		double	_y,
		double	_z
	)		const

Calc distance to the given point.

Parameters

[in]	_x	value along x
[in]	_y	value along y
[in]	_z	value along z

Returns: the distance

§ Dot()

double Dot ( const Vector3 & _pt ) const

Return the dot product of this vector and pt.

Returns: the product

Referenced by Vector3::Set().

§ Equal()

bool Equal ( const Vector3 & _v ) const

Equality test.

Remarks: This is equivalent to the == operator

Parameters

[in] _v the other vector

Returns: true if the 2 vectors have the same values, false otherwise

Referenced by Vector3::Correct().

§ GetAbs()

Vector3 GetAbs ( ) const

Get the absolute value of the vector.

Returns: a vector with positive elements

Referenced by Vector3::Set().

§ GetDistToLine()

double GetDistToLine	(	const Vector3 &	_pt1,
		const Vector3 &	_pt2
	)

Get distance to a line.

Parameters

[in]	_pt1	first point on the line
[in]	_pt2	second point on the line

Returns: the minimum distance from this point to the line

Referenced by Vector3::Set().

§ GetLength()

double GetLength ( ) const

Returns the length (magnitude) of the vector \ return the length.

§ GetMax()

double GetMax ( ) const

Get the maximum value in the vector.

Returns: the maximum element

Referenced by Vector3::Set().

§ GetMin()

double GetMin ( ) const

Get the minimum value in the vector.

Returns: the minimum element

Referenced by Vector3::Set().

§ GetNormal()

static Vector3 GetNormal	(	const Vector3 &	_v1,
		const Vector3 &	_v2,
		const Vector3 &	_v3
	)

static

Get a normal vector to a triangle.

Parameters

[in]	_v1	first vertex of the triangle
[in]	_v2	second vertex
[in]	_v3	third vertex

Returns: the normal

Referenced by Vector3::Set().

§ GetPerpendicular()

Vector3 GetPerpendicular ( ) const

Return a vector that is perpendicular to this one.

Returns: an orthogonal vector

Referenced by Vector3::Set().

§ GetRounded()

Vector3 GetRounded ( ) const

Get a rounded version of this vector.

Returns: a rounded vector

§ GetSquaredLength()

double GetSquaredLength ( ) const

Return the square of the length (magnitude) of the vector.

Returns: the squared length

§ GetSum()

double GetSum ( ) const

Return the sum of the values.

Returns: the sum

§ Ign()

ignition::math::Vector3d Ign ( ) const

Convert this vector to an ignition::math::Vector3d.

Returns: This vector as an ignition::math::Vector3d.

Referenced by Vector3::Set().

§ IsFinite()

bool IsFinite ( ) const

See if a point is finite (e.g., not nan)

§ Normalize()

Vector3 Normalize ( )

Normalize the vector length.

Returns: unit length vector

§ operator!=()

bool operator!= ( const Vector3 & _v ) const

Not equal to operator.

Parameters

[in] _v The vector to compare against

Returns: true if each component is equal withing a default tolerence (1e-6), false otherwise

§ operator*() [1/2]

Vector3 operator* ( const Vector3 & _p ) const

Multiplication operator.

Remarks: this is an element wise multiplication, not a cross product

Parameters

[in] _v

Referenced by Vector3::operator-().

§ operator*() [2/2]

Vector3 operator* ( double _v ) const

Multiplication operators.

Parameters

[in] _v the scaling factor

Returns: a scaled vector

§ operator*=() [1/2]

const Vector3& operator*= ( const Vector3 & _v )

Multiplication operators.

Remarks: this is an element wise multiplication, not a cross product

Parameters

[in] _v a vector

Returns: this

Referenced by Vector3::operator-().

§ operator*=() [2/2]

const Vector3& operator*= ( double _v )

Multiplication operator.

Parameters

[in] _v scaling factor

Returns: this

§ operator+()

Vector3 operator+ ( const Vector3 & _v ) const

Addition operator.

Parameters

[in] _v vector to add

Returns: the sum vector

Referenced by Vector3::Set().

§ operator+=()

const Vector3& operator+= ( const Vector3 & _v )

Addition assignment operator.

Parameters

[in] _v vector to add

Referenced by Vector3::Set().

§ operator-() [1/2]

Vector3 operator- ( ) const

inline

Negation operator.

Returns: negative of this vector

References Vector3::Vector3(), Vector3::x, Vector3::y, and Vector3::z.

§ operator-() [2/2]

Vector3 operator- ( const Vector3 & _pt ) const

inline

Subtraction operators.

Parameters

[in] _pt a vector to substract

Returns: a vector

References Vector3::operator*(), Vector3::operator*=(), Vector3::operator-=(), Vector3::operator/(), Vector3::operator/=(), Vector3::Vector3(), Vector3::x, Vector3::y, and Vector3::z.

§ operator-=()

const Vector3& operator-= ( const Vector3 & _pt )

Subtraction operators.

Parameters

[in] _pt subtrahend

Referenced by Vector3::operator-().

§ operator/() [1/2]

const Vector3 operator/ ( const Vector3 & _pt ) const

Division operator.

[in] _pt the vector divisor

Remarks: this is an element wise division

Returns: a vector

Referenced by Vector3::operator-().

§ operator/() [2/2]

const Vector3 operator/ ( double _v ) const

Division operator.

Remarks: this is an element wise division

Returns: a vector

§ operator/=() [1/2]

const Vector3& operator/= ( const Vector3 & _pt )

Division assignment operator.

[in] _pt the vector divisor

Remarks: this is an element wise division

Returns: a vector

Referenced by Vector3::operator-().

§ operator/=() [2/2]

const Vector3& operator/= ( double _v )

Division operator.

Remarks: this is an element wise division

Returns: this

§ operator=() [1/3]

Vector3& operator= ( const ignition::math::Vector3d & _v )

Assignment operator for ignition math.

Parameters

[in] _v a new value

Returns: this

Referenced by Vector3::Set().

§ operator=() [2/3]

Vector3& operator= ( const Vector3 & _v )

Assignment operator.

Parameters

[in] _v a new value

Returns: The new vector

§ operator=() [3/3]

Vector3& operator= ( double _value )

Assignment operator.

Parameters

[in] _value assigned to all elements

Returns: this

§ operator==()

bool operator== ( const Vector3 & _pt ) const

Equal to operator.

Parameters

[in] _pt The vector to compare against

Returns: true if each component is equal withing a default tolerence (1e-6), false otherwise

§ operator[]()

double operator[] ( unsigned int index ) const

[] operator

Referenced by Vector3::Correct().

§ Round() [1/2]

Vector3 Round ( )

Round to near whole number, return the result.

Returns: the result

Referenced by Vector3::Correct().

§ Round() [2/2]

void Round ( int _precision )

Round all values to _precision decimal places.

Parameters

[in] _precision the decimal places

§ Set()

void Set	(	double	_x = `0`,
		double	_y = `0`,
		double	_z = `0`
	)

inline

Set the contents of the vector.

Parameters

[in]	_x	value along x
[in]	_y	value along y
[in]	_z	value aling z

References Vector3::Cross(), Vector3::Dot(), Vector3::GetAbs(), Vector3::GetDistToLine(), Vector3::GetMax(), Vector3::GetMin(), Vector3::GetNormal(), Vector3::GetPerpendicular(), Vector3::Ign(), Vector3::operator+(), Vector3::operator+=(), Vector3::operator=(), Vector3::SetToMax(), Vector3::SetToMin(), Vector3::x, Vector3::y, and Vector3::z.

§ SetToMax()

void SetToMax ( const Vector3 & _v )

Set this vector's components to the maximum of itself and the passed in vector.

Parameters

[in] _v the maximum clamping vector

Referenced by Vector3::Set().

§ SetToMin()

void SetToMin ( const Vector3 & _v )

Set this vector's components to the minimum of itself and the passed in vector.

Parameters

[in] _v the minimum clamping vector

Referenced by Vector3::Set().

Friends And Related Function Documentation

§ operator*

Vector3 operator*	(	double	_s,
		const Vector3 &	_v
	)

friend

Multiplication operators.

Parameters

[in]	_s	the scaling factor
[in]	_v	input vector

Returns: a scaled vector

§ operator<<

std::ostream& operator<<	(	std::ostream &	_out,
		const gazebo::math::Vector3 &	_pt
	)

friend

Stream insertion operator.

Parameters

_out	output stream
_pt	Vector3 to output

Returns: the stream

§ operator>>

std::istream& operator>>	(	std::istream &	_in,
		gazebo::math::Vector3 &	_pt
	)

friend

Stream extraction operator.

Parameters

_in	input stream
_pt	vector3 to read values into

Returns: the stream

Member Data Documentation

§ One

const Vector3 One

static

math::Vector3(1, 1, 1)

§ UnitX

const Vector3 UnitX

static

math::Vector3(1, 0, 0)

§ UnitY

const Vector3 UnitY

static

math::Vector3(0, 1, 0)

§ UnitZ

const Vector3 UnitZ

static

math::Vector3(0, 0, 1)

Referenced by ServerFixture::CheckPointer().

§ x

double x

X location.

Referenced by BulletTypes::ConvertVector3(), DARTTypes::ConvVec3(), Pose::CoordPositionSub(), Vector3::Correct(), ODEPlaneShape::CreatePlane(), Matrix3::operator*(), Vector3::operator-(), Quaternion::RotateVector(), Vector3::Set(), ODEPlaneShape::SetAltitude(), BulletSphereShape::SetRadius(), SimbodyBoxShape::SetSize(), BulletBoxShape::SetSize(), ODEBoxShape::SetSize(), and BulletCylinderShape::SetSize().

§ y

double y

Y location.

Referenced by BulletTypes::ConvertVector3(), DARTTypes::ConvVec3(), Pose::CoordPositionSub(), Vector3::Correct(), ODEPlaneShape::CreatePlane(), Matrix3::operator*(), Vector3::operator-(), Quaternion::RotateVector(), Vector3::Set(), ODEPlaneShape::SetAltitude(), BulletSphereShape::SetRadius(), SimbodyBoxShape::SetSize(), BulletBoxShape::SetSize(), ODEBoxShape::SetSize(), and BulletCylinderShape::SetSize().

§ z

double z

Z location.

Referenced by BulletTypes::ConvertVector3(), DARTTypes::ConvVec3(), Pose::CoordPositionSub(), Vector3::Correct(), ODEPlaneShape::CreatePlane(), Matrix3::operator*(), Vector3::operator-(), Quaternion::RotateVector(), Vector3::Set(), ODEPlaneShape::SetAltitude(), BulletSphereShape::SetRadius(), SimbodyBoxShape::SetSize(), BulletBoxShape::SetSize(), ODEBoxShape::SetSize(), and BulletCylinderShape::SetSize().

§ Zero

const Vector3 Zero

static

math::Vector3(0, 0, 0)

Referenced by Link::GetWorldLinearVel().

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

Vector3.hh

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

§ Vector3() [1/4]

§ Vector3() [2/4]

§ Vector3() [3/4]

§ Vector3() [4/4]

§ ~Vector3()

Member Function Documentation

§ Correct()

§ Cross()

§ Distance() [1/2]

§ Distance() [2/2]

§ Dot()

§ Equal()

§ GetAbs()

§ GetDistToLine()

§ GetLength()

§ GetMax()

§ GetMin()

§ GetNormal()

§ GetPerpendicular()

§ GetRounded()

§ GetSquaredLength()

§ GetSum()

§ Ign()

§ IsFinite()

§ Normalize()

§ operator!=()

§ operator*() [1/2]

§ operator*() [2/2]

§ operator*=() [1/2]

§ operator*=() [2/2]

§ operator+()

§ operator+=()

§ operator-() [1/2]

§ operator-() [2/2]

§ operator-=()

§ operator/() [1/2]

§ operator/() [2/2]

§ operator/=() [1/2]

§ operator/=() [2/2]

§ operator=() [1/3]

§ operator=() [2/3]

§ operator=() [3/3]

§ operator==()

§ operator[]()

§ Round() [1/2]

§ Round() [2/2]

§ Set()

§ SetToMax()

§ SetToMin()

Friends And Related Function Documentation

§ operator*

§ operator<<

§ operator>>

Member Data Documentation

§ One

§ UnitX

§ UnitY

§ UnitZ

§ x

§ y

§ z

§ Zero