Vector3 Class Reference

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

(

)

Constructor.

Referenced by Vector3::operator-().

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

(

const ignition::math::Vector3d &

_v

)

Ignition math copy constructor.

Parameters

[in]

_v

a vector

Vector3

(

const Vector3 &

_v

)

Copy constructor.

Parameters

[in]

_v

a vector

virtual ~Vector3 ( )

virtual

Destructor.

Member Function Documentation

void Correct ( )

inline

Corrects any nan values.

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

Referenced by Pose::Correct().

Vector3 Cross

(

const Vector3 &

_pt

)

const

Return the cross product of this vector and pt.

Returns

the product

double Distance

(

const Vector3 &

_pt

)

const

Calc distance to the given point.

Parameters

[in]

_pt

the point

Returns

the distance

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

double Dot

(

const Vector3 &

_pt

)

const

Return the dot product of this vector and pt.

Returns

the product

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

Vector3 GetAbs

(

)

const

Get the absolute value of the vector.

Returns

a vector with positive elements

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

double GetLength

(

)

const

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

double GetMax

(

)

const

Get the maximum value in the vector.

Returns

the maximum element

double GetMin

(

)

const

Get the minimum value in the vector.

Returns

the minimum element

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

Vector3 GetPerpendicular

(

)

const

Return a vector that is perpendicular to this one.

Returns

an orthogonal vector

Vector3 GetRounded

(

)

const

Get a rounded version of this vector.

Returns

a rounded vector

double GetSquaredLength

(

)

const

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

Returns

the squared length

double GetSum

(

)

const

Return the sum of the values.

Returns

the sum

ignition::math::Vector3d Ign

(

)

const

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

Returns

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

bool IsFinite

(

)

const

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

Vector3 Normalize

(

)

Normalize the vector length.

Returns

unit length vector

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

Vector3 operator*

(

const Vector3 &

_p

)

const

Multiplication operator.

Remarks

this is an element wise multiplication, not a cross product

Parameters

[in]

_v

Vector3 operator*

(

double

_v

)

const

Multiplication operators.

Parameters

[in]

_v

the scaling factor

Returns

a scaled vector

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

const Vector3& operator*=

(

double

_v

)

Multiplication operator.

Parameters

[in]

_v

scaling factor

Returns

this

Vector3 operator+

(

const Vector3 &

_v

)

const

Addition operator.

Parameters

[in]

_v

vector to add

Returns

the sum vector

const Vector3& operator+=

(

const Vector3 &

_v

)

Addition assignment operator.

Parameters

[in]

_v

vector to add

Vector3 operator- ( ) const

inline

Negation operator.

Returns

negative of this vector

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

Vector3 operator- ( const Vector3 &  _pt ) const

inline

Subtraction operators.

Parameters

[in]

_pt

a vector to substract

Returns

a vector

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

const Vector3& operator-=

(

const Vector3 &

_pt

)

Subtraction operators.

Parameters

[in]

_pt

subtrahend

const Vector3 operator/

(

const Vector3 &

_pt

)

const

Division operator.

[in] _pt the vector divisor

Remarks

this is an element wise division

Returns

a vector

const Vector3 operator/

(

double

_v

)

const

Division operator.

Remarks

this is an element wise division

Returns

a vector

const Vector3& operator/=

(

const Vector3 &

_pt

)

Division assignment operator.

[in] _pt the vector divisor

Remarks

this is an element wise division

Returns

a vector

const Vector3& operator/=

(

double

_v

)

Division operator.

Remarks

this is an element wise division

Returns

this

Vector3& operator=

(

const ignition::math::Vector3d &

_v

)

Assignment operator for ignition math.

Parameters

[in]

_v

a new value

Returns

this

Vector3& operator=

(

const Vector3 &

_v

)

Assignment operator.

Parameters

[in]

_v

a new value

Returns

The new vector

Vector3& operator=

(

double

_value

)

Assignment operator.

Parameters

[in]

_value

assigned to all elements

Returns

this

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

double operator[]

(

unsigned int

index

)

const

[] operator

Vector3 Round

(

)

Round to near whole number, return the result.

Returns

the result

void Round

(

int

_precision

)

Round all values to _precision decimal places.

Parameters

[in]

_precision

the decimal places

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::x, Vector3::y, and Vector3::z.

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

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

Friends And Related Function Documentation

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

friend

Multiplication operators.

Parameters

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

Returns

a scaled vector

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

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

const Vector3 One

static

math::Vector3(1, 1, 1)

const Vector3 UnitX

static

math::Vector3(1, 0, 0)

const Vector3 UnitY

static

math::Vector3(0, 1, 0)

const Vector3 UnitZ

static

math::Vector3(0, 0, 1)

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().

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().

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().

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