Vector3 Class Reference

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

#include <math/gzmath.hh>

Public Member Functions
	Vector3 () GAZEBO_DEPRECATED(8.0)
	Constructor. More...
	Vector3 (const double &_x, const double &_y, const double &_z) GAZEBO_DEPRECATED(8.0)
	Constructor. More...
	Vector3 (const ignition::math::Vector3d &_v) GAZEBO_DEPRECATED(8.0)
	Ignition math copy constructor. More...
	Vector3 (const Vector3 &_v) GAZEBO_DEPRECATED(8.0)
	Copy constructor. More...
virtual	~Vector3 () GAZEBO_DEPRECATED(8.0)
	Destructor. More...
void	Correct () GAZEBO_DEPRECATED(8.0)
	Corrects any nan values. More...
Vector3	Cross (const Vector3 &_pt) const GAZEBO_DEPRECATED(8.0)
	Return the cross product of this vector and pt. More...
double	Distance (const Vector3 &_pt) const GAZEBO_DEPRECATED(8.0)
	Calc distance to the given point. More...
double	Distance (double _x, double _y, double _z) const GAZEBO_DEPRECATED(8.0)
	Calc distance to the given point. More...
double	Dot (const Vector3 &_pt) const GAZEBO_DEPRECATED(8.0)
	Return the dot product of this vector and pt. More...
bool	Equal (const Vector3 &_v) const GAZEBO_DEPRECATED(8.0)
	Equality test. More...
Vector3	GetAbs () const GAZEBO_DEPRECATED(8.0)
	Get the absolute value of the vector. More...
double	GetDistToLine (const Vector3 &_pt1, const Vector3 &_pt2) GAZEBO_DEPRECATED(8.0)
	Get distance to a line. More...
double	GetLength () const GAZEBO_DEPRECATED(8.0)
	Returns the length (magnitude) of the vector \ return the length. More...
double	GetMax () const GAZEBO_DEPRECATED(8.0)
	Get the maximum value in the vector. More...
double	GetMin () const GAZEBO_DEPRECATED(8.0)
	Get the minimum value in the vector. More...
Vector3	GetPerpendicular () const GAZEBO_DEPRECATED(8.0)
	Return a vector that is perpendicular to this one. More...
Vector3	GetRounded () const GAZEBO_DEPRECATED(8.0)
	Get a rounded version of this vector. More...
double	GetSquaredLength () const GAZEBO_DEPRECATED(8.0)
	Return the square of the length (magnitude) of the vector. More...
double	GetSum () const GAZEBO_DEPRECATED(8.0)
	Return the sum of the values. More...
ignition::math::Vector3d	Ign () const GAZEBO_DEPRECATED(8.0)
	Convert this vector to an ignition::math::Vector3d. More...
bool	IsFinite () const GAZEBO_DEPRECATED(8.0)
	See if a point is finite (e.g., not nan) More...
Vector3	Normalize () GAZEBO_DEPRECATED(8.0)
	Normalize the vector length. More...
bool	operator!= (const Vector3 &_v) const
	Not equal to operator. More...
Vector3	operator* (const Vector3 &_p) const GAZEBO_DEPRECATED(8.0)
	Multiplication operator. More...
Vector3	operator* (double _v) const GAZEBO_DEPRECATED(8.0)
	Multiplication operators. More...
const Vector3 &	operator*= (const Vector3 &_v) GAZEBO_DEPRECATED(8.0)
	Multiplication operators. More...
const Vector3 &	operator*= (double _v) GAZEBO_DEPRECATED(8.0)
	Multiplication operator. More...
Vector3	operator+ (const Vector3 &_v) const GAZEBO_DEPRECATED(8.0)
	Addition operator. More...
const Vector3 &	operator+= (const Vector3 &_v) GAZEBO_DEPRECATED(8.0)
	Addition assignment operator. More...
Vector3	operator- () const GAZEBO_DEPRECATED(8.0)
	Negation operator. More...
Vector3	operator- (const Vector3 &_pt) const GAZEBO_DEPRECATED(8.0)
	Subtraction operators. More...
const Vector3 &	operator-= (const Vector3 &_pt) GAZEBO_DEPRECATED(8.0)
	Subtraction operators. More...
const Vector3	operator/ (const Vector3 &_pt) const GAZEBO_DEPRECATED(8.0)
	Division operator. More...
const Vector3	operator/ (double _v) const GAZEBO_DEPRECATED(8.0)
	Division operator. More...
const Vector3 &	operator/= (const Vector3 &_pt) GAZEBO_DEPRECATED(8.0)
	Division assignment operator. More...
const Vector3 &	operator/= (double _v) GAZEBO_DEPRECATED(8.0)
	Division operator. More...
Vector3 &	operator= (const ignition::math::Vector3d &_v) GAZEBO_DEPRECATED(8.0)
	Assignment operator for ignition math. More...
Vector3 &	operator= (const Vector3 &_v) GAZEBO_DEPRECATED(8.0)
	Assignment operator. More...
Vector3 &	operator= (double _value) GAZEBO_DEPRECATED(8.0)
	Assignment operator. More...
bool	operator== (const Vector3 &_pt) const
	Equal to operator. More...
double	operator[] (unsigned int index) const GAZEBO_DEPRECATED(8.0)
	[] operator More...
Vector3	Round () GAZEBO_DEPRECATED(8.0)
	Round to near whole number, return the result. More...
void	Round (int _precision) GAZEBO_DEPRECATED(8.0)
	Round all values to _precision decimal places. More...
void	Set (double _x=0, double _y=0, double _z=0) GAZEBO_DEPRECATED(8.0)
	Set the contents of the vector. More...
void	SetToMax (const Vector3 &_v) GAZEBO_DEPRECATED(8.0)
	Set this vector's components to the maximum of itself and the passed in vector. More...
void	SetToMin (const Vector3 &_v) GAZEBO_DEPRECATED(8.0)
	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) GAZEBO_DEPRECATED(8.0)
	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) GAZEBO_DEPRECATED(8.0)
	Multiplication operators. More...
std::ostream &	operator<< (std::ostream &_out, const gazebo::math::Vector3 &_pt) GAZEBO_DEPRECATED(8.0)
	Stream insertion operator. More...
std::istream &	operator>> (std::istream &_in, gazebo::math::Vector3 &_pt) GAZEBO_DEPRECATED(8.0)
	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.

Referenced by ServerFixture::SpawnBox(), ServerFixture::SpawnCamera(), ServerFixture::SpawnCylinder(), ServerFixture::SpawnEmptyLink(), ServerFixture::SpawnGpuRaySensor(), ServerFixture::SpawnImuSensor(), ServerFixture::SpawnLight(), ServerFixture::SpawnRaySensor(), ServerFixture::SpawnSphere(), ServerFixture::SpawnTrimesh(), ServerFixture::SpawnUnitContactSensor(), ServerFixture::SpawnUnitImuSensor(), ServerFixture::SpawnWirelessReceiverSensor(), and ServerFixture::SpawnWirelessTransmitterSensor().

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 Note: not explicitly deprecated on purpose, because gtest catches it

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(), and Vector3::x.

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 Note: not explicitly deprecated on purpose, because gtest catches it

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 Pose::CoordPositionSub(), Vector3::Correct(), Matrix3::operator*(), Vector3::operator-(), and Vector3::Set().

double y

Y location.

Referenced by Vector3::Correct(), Matrix3::operator*(), Vector3::operator-(), and Vector3::Set().

double z

Z location.

Referenced by Vector3::Correct(), Matrix3::operator*(), Vector3::operator-(), and Vector3::Set().

const Vector3 Zero

static

math::Vector3(0, 0, 0)

---

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

• Vector3.hh