ignition::math::Vector3< T > Class Template Reference

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

#include <ignition/math/Vector3.hh>

Public Member Functions
	Vector3 ()
	Constructor. More...
	Vector3 (const T &_x, const T &_y, const T &_z)
	Constructor. More...
	Vector3 (const Vector3< T > &_v)
	Copy constructor. More...
virtual	~Vector3 ()
	Destructor. More...
Vector3	Abs () const
	Get the absolute value of the vector. More...
void	Correct ()
	Corrects any nan values. More...
Vector3	Cross (const Vector3< T > &_v) const
	Return the cross product of this vector with another vector. More...
T	Distance (const Vector3< T > &_pt) const
	Calc distance to the given point. More...
T	Distance (T _x, T _y, T _z) const
	Calc distance to the given point. More...
T	DistToLine (const Vector3< T > &_pt1, const Vector3 &_pt2)
	Get distance to a line. More...
T	Dot (const Vector3< T > &_v) const
	Return the dot product of this vector and another vector. More...
bool	Equal (const Vector3< T > &_v) const
	Equality test. More...
bool	IsFinite () const
	See if a point is finite (e.g., not nan) More...
T	Length () const
	Returns the length (magnitude) of the vector \ return the length. More...
void	Max (const Vector3< T > &_v)
	Set this vector's components to the maximum of itself and the passed in vector. More...
T	Max () const
	Get the maximum value in the vector. More...
void	Min (const Vector3< T > &_v)
	Set this vector's components to the minimum of itself and the passed in vector. More...
T	Min () const
	Get the minimum value in the vector. More...
Vector3	Normalize ()
	Normalize the vector length. More...
bool	operator!= (const Vector3< T > &_v) const
	Not equal to operator. More...
Vector3< T >	operator* (const Vector3< T > &_p) const
	Multiplication operator. More...
Vector3< T >	operator* (T _s) const
	Multiplication operators. More...
const Vector3< T > &	operator*= (const Vector3< T > &_v)
	Multiplication assignment operators. More...
const Vector3< T > &	operator*= (T _v)
	Multiplication operator. More...
Vector3	operator+ (const Vector3< T > &_v) const
	Addition operator. More...
const Vector3 &	operator+= (const Vector3< T > &_v)
	Addition assignment operator. More...
Vector3	operator- () const
	Negation operator. More...
Vector3< T >	operator- (const Vector3< T > &_pt) const
	Subtraction operators. More...
const Vector3< T > &	operator-= (const Vector3< T > &_pt)
	Subtraction assignment operators. More...
const Vector3< T >	operator/ (const Vector3< T > &_pt) const
	Division operator. More...
const Vector3< T >	operator/ (T _v) const
	Division operator. More...
const Vector3< T > &	operator/= (const Vector3< T > &_pt)
	Division assignment operator. More...
const Vector3< T > &	operator/= (T _v)
	Division assignment operator. More...
Vector3 &	operator= (const Vector3< T > &_v)
	Assignment operator. More...
Vector3 &	operator= (T _v)
	Assignment operator. More...
bool	operator== (const Vector3< T > &_v) const
	Equal to operator. More...
T	operator[] (size_t _index) const
	Array subscript operator. More...
Vector3	Perpendicular () const
	Return a vector that is perpendicular to this one. More...
Vector3	Round ()
	Round to near whole number, return the result. More...
void	Round (int _precision)
	Round all values to _precision decimal places. More...
Vector3	Rounded () const
	Get a rounded version of this vector. More...
void	Set (T _x=0, T _y=0, T _z=0)
	Set the contents of the vector. More...
T	SquaredLength () const
	Return the square of the length (magnitude) of the vector. More...
T	Sum () const
	Return the sum of the values. More...
T	X () const
	Get the x value. More...
T &	X ()
	Get a mutable reference to the x value. More...
void	X (const T &_v)
	Set the x value. More...
T	Y () const
	Get the y value. More...
T &	Y ()
	Get a mutable reference to the y value. More...
void	Y (const T &_v)
	Set the y value. More...
T	Z () const
	Get the z value. More...
T &	Z ()
	Get a mutable reference to the z value. More...
void	Z (const T &_v)
	Set the z value. More...

Static Public Member Functions
static Vector3	Normal (const Vector3< T > &_v1, const Vector3< T > &_v2, const Vector3< T > &_v3)
	Get a normal vector to a triangle. 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< T >	operator* (T _s, const Vector3< T > &_v)
	Multiplication operators. More...
std::ostream &	operator<< (std::ostream &_out, const ignition::math::Vector3< T > &_pt)
	Stream insertion operator. More...
std::istream &	operator>> (std::istream &_in, ignition::math::Vector3< T > &_pt)
	Stream extraction operator. More...

Detailed Description

template<typename T>
class ignition::math::Vector3< T >

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

template<typename T>

ignition::math::Vector3< T >::Vector3 ( )

inline

Constructor.

Referenced by ignition::math::Vector3< double >::Abs(), ignition::math::Vector3< double >::Cross(), ignition::math::Vector3< double >::Distance(), ignition::math::Vector3< double >::operator*(), ignition::math::Vector3< double >::operator+(), ignition::math::Vector3< double >::operator-(), ignition::math::Vector3< double >::operator/(), and ignition::math::Vector3< double >::Perpendicular().

template<typename T>

ignition::math::Vector3< T >::Vector3 ( const T &  _x, const T &  _y, const T &  _z  )

inline

Constructor.

Parameters

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

template<typename T>

ignition::math::Vector3< T >::Vector3 ( const Vector3< T > &  _v )

inline

Copy constructor.

Parameters

[in]

_v

a vector

template<typename T>

virtual ignition::math::Vector3< T >::~Vector3 ( )

inlinevirtual

Destructor.

Member Function Documentation

template<typename T>

Vector3 ignition::math::Vector3< T >::Abs ( ) const

inline

Get the absolute value of the vector.

Returns

a vector with positive elements

template<typename T>

void ignition::math::Vector3< T >::Correct ( )

inline

Corrects any nan values.

template<typename T>

Vector3 ignition::math::Vector3< T >::Cross ( const Vector3< T > &  _v ) const

inline

Return the cross product of this vector with another vector.

Parameters

[in]

_v

a vector

Returns

the cross product

Referenced by ignition::math::Vector3< double >::DistToLine(), ignition::math::Vector3< double >::Normal(), ignition::math::Quaternion< T >::operator*(), and ignition::math::Vector3< double >::Perpendicular().

template<typename T>

T ignition::math::Vector3< T >::Distance ( const Vector3< T > &  _pt ) const

inline

Calc distance to the given point.

Parameters

[in]

_pt

the point

Returns

the distance

Referenced by ignition::math::Vector3< double >::Distance().

template<typename T>

T ignition::math::Vector3< T >::Distance ( T  _x, T  _y, T  _z  ) const

inline

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

template<typename T>

T ignition::math::Vector3< T >::DistToLine ( const Vector3< T > &  _pt1, const Vector3< T > &  _pt2  )

inline

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

template<typename T>

T ignition::math::Vector3< T >::Dot ( const Vector3< T > &  _v ) const

inline

Return the dot product of this vector and another vector.

Parameters

[in]

_v

the vector

Returns

the dot product

Referenced by ignition::math::Plane< T >::Distance().

template<typename T>

bool ignition::math::Vector3< T >::Equal ( const Vector3< T > &  _v ) const

inline

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

template<typename T>

bool ignition::math::Vector3< T >::IsFinite ( ) const

inline

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

Returns

true if is finite or false otherwise

template<typename T>

T ignition::math::Vector3< T >::Length ( ) const

inline

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

Referenced by ignition::math::Vector3< double >::DistToLine().

template<typename T>

void ignition::math::Vector3< T >::Max ( const Vector3< T > &  _v )

inline

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

Parameters

[in]

_v

the maximum clamping vector

template<typename T>

T ignition::math::Vector3< T >::Max ( ) const

inline

Get the maximum value in the vector.

Returns

the maximum element

template<typename T>

void ignition::math::Vector3< T >::Min ( const Vector3< T > &  _v )

inline

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

Parameters

[in]

_v

the minimum clamping vector

template<typename T>

T ignition::math::Vector3< T >::Min ( ) const

inline

Get the minimum value in the vector.

Returns

the minimum element

template<typename T>

static Vector3 ignition::math::Vector3< T >::Normal ( const Vector3< T > &  _v1, const Vector3< T > &  _v2, const Vector3< T > &  _v3  )

inlinestatic

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

template<typename T>

Vector3 ignition::math::Vector3< T >::Normalize ( )

inline

Normalize the vector length.

Returns

unit length vector

template<typename T>

bool ignition::math::Vector3< T >::operator!= ( const Vector3< T > &  _v ) const

inline

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

template<typename T>

Vector3<T> ignition::math::Vector3< T >::operator* ( const Vector3< T > &  _p ) const

inline

Multiplication operator.

Remarks

this is an element wise multiplication, not a cross product

Parameters

[in]

_p

multiplier operator

Returns

a vector

template<typename T>

Vector3<T> ignition::math::Vector3< T >::operator* ( T  _s ) const

inline

Multiplication operators.

Parameters

[in]

_s

the scaling factor

Returns

a scaled vector

template<typename T>

const Vector3<T>& ignition::math::Vector3< T >::operator*= ( const Vector3< T > &  _v )

inline

Multiplication assignment operators.

Remarks

this is an element wise multiplication, not a cross product

Parameters

[in]

_v

a vector

Returns

this

template<typename T>

const Vector3<T>& ignition::math::Vector3< T >::operator*= ( T  _v )

inline

Multiplication operator.

Parameters

[in]

_v

scaling factor

Returns

this

template<typename T>

Vector3 ignition::math::Vector3< T >::operator+ ( const Vector3< T > &  _v ) const

inline

Addition operator.

Parameters

[in]

_v

vector to add

Returns

the sum vector

template<typename T>

const Vector3& ignition::math::Vector3< T >::operator+= ( const Vector3< T > &  _v )

inline

Addition assignment operator.

Parameters

[in]

_v

vector to add

Returns

the sum vector

template<typename T>

Vector3 ignition::math::Vector3< T >::operator- ( ) const

inline

Negation operator.

Returns

negative of this vector

template<typename T>

Vector3<T> ignition::math::Vector3< T >::operator- ( const Vector3< T > &  _pt ) const

inline

Subtraction operators.

Parameters

[in]

_pt

a vector to substract

Returns

a vector after the substraction

template<typename T>

const Vector3<T>& ignition::math::Vector3< T >::operator-= ( const Vector3< T > &  _pt )

inline

Subtraction assignment operators.

Parameters

[in]

_pt

subtrahend

Returns

a vector after the substraction

template<typename T>

const Vector3<T> ignition::math::Vector3< T >::operator/ ( const Vector3< T > &  _pt ) const

inline

Division operator.

Remarks

this is an element wise division

Parameters

[in]

_pt

the vector divisor

Returns

a vector

template<typename T>

const Vector3<T> ignition::math::Vector3< T >::operator/ ( T  _v ) const

inline

Division operator.

Remarks

this is an element wise division

Parameters

[in]

_v

the divisor

Returns

a vector

template<typename T>

const Vector3<T>& ignition::math::Vector3< T >::operator/= ( const Vector3< T > &  _pt )

inline

Division assignment operator.

Remarks

this is an element wise division

Parameters

[in]

_pt

the vector divisor

Returns

a vector

template<typename T>

const Vector3<T>& ignition::math::Vector3< T >::operator/= ( T  _v )

inline

Division assignment operator.

Remarks

this is an element wise division

Parameters

[in]

_v

the divisor

Returns

this

template<typename T>

Vector3& ignition::math::Vector3< T >::operator= ( const Vector3< T > &  _v )

inline

Assignment operator.

Parameters

[in]

_v

a new value

Returns

this

template<typename T>

Vector3& ignition::math::Vector3< T >::operator= ( T  _v )

inline

Assignment operator.

Parameters

[in]

_value

assigned to all elements

Returns

this

template<typename T>

bool ignition::math::Vector3< T >::operator== ( const Vector3< T > &  _v ) const

inline

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

template<typename T>

T ignition::math::Vector3< T >::operator[] ( size_t  _index ) const

inline

Array subscript operator.

Parameters

[in]

_index

The index, where 0 == x, 1 == y, 2 == z.

Returns

The value. Throws an IndexException if _index is out of bounds.

Exceptions

IndexException

if _index is >= 3.

template<typename T>

Vector3 ignition::math::Vector3< T >::Perpendicular ( ) const

inline

Return a vector that is perpendicular to this one.

Returns

an orthogonal vector

template<typename T>

Vector3 ignition::math::Vector3< T >::Round ( )

inline

Round to near whole number, return the result.

Returns

the result

Referenced by ignition::math::Vector3< double >::Rounded().

template<typename T>

void ignition::math::Vector3< T >::Round ( int  _precision )

inline

Round all values to _precision decimal places.

Parameters

[in]

_precision

the decimal places

template<typename T>

Vector3 ignition::math::Vector3< T >::Rounded ( ) const

inline

Get a rounded version of this vector.

Returns

a rounded vector

template<typename T>

void ignition::math::Vector3< T >::Set ( T  _x = 0, T  _y = 0, T  _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

Referenced by ignition::math::Quaternion< T >::ToAxis().

template<typename T>

T ignition::math::Vector3< T >::SquaredLength ( ) const

inline

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

Returns

the squared length

Referenced by ignition::math::Vector3< double >::Perpendicular().

template<typename T>

T ignition::math::Vector3< T >::Sum ( ) const

inline

Return the sum of the values.

Returns

the sum

template<typename T>

T ignition::math::Vector3< T >::X ( ) const

inline

Get the x value.

Returns

The x component of the vector

Referenced by ignition::math::Matrix3< T >::Axis(), ignition::math::Matrix4< double >::Axis(), ignition::math::Quaternion< T >::Axis(), ignition::math::Matrix3< T >::Col(), ignition::math::Pose3< T >::CoordPositionAdd(), ignition::math::Quaternion< T >::Euler(), ignition::math::Matrix4< double >::EulerRotation(), ignition::math::Matrix3< T >::operator*(), ignition::math::Matrix4< double >::operator*(), ignition::math::Quaternion< T >::RotateVector(), ignition::math::Quaternion< T >::RotateVectorReverse(), ignition::math::Matrix4< double >::Scale(), ignition::math::Quaternion< T >::Scale(), ignition::math::Matrix4< double >::TransformAffine(), and ignition::math::Matrix4< double >::Translate().

template<typename T>

T& ignition::math::Vector3< T >::X ( )

inline

Get a mutable reference to the x value.

Returns

The x component of the vector

template<typename T>

void ignition::math::Vector3< T >::X ( const T &  _v )

inline

Set the x value.

Parameters

[in]

_v

Value for the x component.

template<typename T>

T ignition::math::Vector3< T >::Y ( ) const

inline

Get the y value.

Returns

The y component of the vector

Referenced by ignition::math::Matrix3< T >::Axis(), ignition::math::Matrix4< double >::Axis(), ignition::math::Quaternion< T >::Axis(), ignition::math::Matrix3< T >::Col(), ignition::math::Pose3< T >::CoordPositionAdd(), ignition::math::Quaternion< T >::Euler(), ignition::math::Matrix4< double >::EulerRotation(), ignition::math::Matrix3< T >::operator*(), ignition::math::Matrix4< double >::operator*(), ignition::math::Quaternion< T >::RotateVector(), ignition::math::Quaternion< T >::RotateVectorReverse(), ignition::math::Matrix4< double >::Scale(), ignition::math::Quaternion< T >::Scale(), ignition::math::Matrix4< double >::TransformAffine(), and ignition::math::Matrix4< double >::Translate().

template<typename T>

T& ignition::math::Vector3< T >::Y ( )

inline

Get a mutable reference to the y value.

Returns

The y component of the vector

template<typename T>

void ignition::math::Vector3< T >::Y ( const T &  _v )

inline

Set the y value.

Parameters

[in]

_v

Value for the y component.

template<typename T>

T ignition::math::Vector3< T >::Z ( ) const

inline

Get the z value.

Returns

The z component of the vector

Referenced by ignition::math::Matrix3< T >::Axis(), ignition::math::Matrix4< double >::Axis(), ignition::math::Quaternion< T >::Axis(), ignition::math::Matrix3< T >::Col(), ignition::math::Pose3< T >::CoordPositionAdd(), ignition::math::Quaternion< T >::Euler(), ignition::math::Matrix4< double >::EulerRotation(), ignition::math::Matrix3< T >::operator*(), ignition::math::Matrix4< double >::operator*(), ignition::math::Quaternion< T >::RotateVector(), ignition::math::Quaternion< T >::RotateVectorReverse(), ignition::math::Matrix4< double >::Scale(), ignition::math::Quaternion< T >::Scale(), ignition::math::Matrix4< double >::TransformAffine(), and ignition::math::Matrix4< double >::Translate().

template<typename T>

T& ignition::math::Vector3< T >::Z ( )

inline

Get a mutable reference to the z value.

Returns

The z component of the vector

template<typename T>

void ignition::math::Vector3< T >::Z ( const T &  _v )

inline

Set the z value.

Parameters

[in]

_v

Value for the z component.

Friends And Related Function Documentation

template<typename T>

Vector3<T> operator* ( T  _s, const Vector3< T > &  _v  )

friend

Multiplication operators.

Parameters

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

Returns

a scaled vector

template<typename T>

std::ostream& operator<< ( std::ostream &  _out, const ignition::math::Vector3< T > &  _pt  )

friend

Stream insertion operator.

Parameters

_out	output stream
_pt	Vector3 to output

Returns

the stream

template<typename T>

std::istream& operator>> ( std::istream &  _in, ignition::math::Vector3< T > &  _pt  )

friend

Stream extraction operator.

Parameters

_in	input stream
_pt	vector3 to read values into

Returns

the stream

Member Data Documentation

template<typename T>

const Vector3< T > ignition::math::Vector3< T >::One

static

math::Vector3(1, 1, 1)

template<typename T>

const Vector3< T > ignition::math::Vector3< T >::UnitX

static

math::Vector3(1, 0, 0)

template<typename T>

const Vector3< T > ignition::math::Vector3< T >::UnitY

static

math::Vector3(0, 1, 0)

template<typename T>

const Vector3< T > ignition::math::Vector3< T >::UnitZ

static

math::Vector3(0, 0, 1)

template<typename T>

const Vector3< T > ignition::math::Vector3< T >::Zero

static

math::Vector3(0, 0, 0)

---

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

• Vector3.hh