octomath::Vector3 Class Reference

Detailed Description

This class represents a three-dimensional vector.

The three-dimensional vector can be used to represent a translation in three-dimensional space or to represent the attitude of an object using Euler angle.

Definition at line 65 of file Vector3.h.

#include <mrpt/otherlibs/octomap/math/Vector3.h>

Public Member Functions
	Vector3 ()
	Default constructor. More...
	Vector3 (const Vector3 &other)
	Copy constructor. More...
	Vector3 (float x, float y, float z)
	Constructor. More...
Vector3 &	operator= (const Vector3 &other)
	Assignment operator. More...
Vector3	cross (const Vector3 &other) const
	Three-dimensional vector (cross) product. More...
double	dot (const Vector3 &other) const
const float &	operator() (unsigned int i) const
float &	operator() (unsigned int i)
float &	x ()
float &	y ()
float &	z ()
const float &	x () const
const float &	y () const
const float &	z () const
float &	roll ()
float &	pitch ()
float &	yaw ()
const float &	roll () const
const float &	pitch () const
const float &	yaw () const
Vector3	operator- () const
Vector3	operator+ (const Vector3 &other) const
Vector3	operator* (float x) const
Vector3	operator- (const Vector3 &other) const
void	operator+= (const Vector3 &other)
void	operator-= (const Vector3 &other)
void	operator/= (float x)
void	operator*= (float x)
bool	operator== (const Vector3 &other) const
double	norm () const
Vector3 &	normalize ()
Vector3	normalized () const
double	angleTo (const Vector3 &other) const
double	distance (const Vector3 &other) const
double	distanceXY (const Vector3 &other) const
Vector3 &	rotate_IP (double roll, double pitch, double yaw)
std::istream &	read (std::istream &s)
std::ostream &	write (std::ostream &s) const
std::istream &	readBinary (std::istream &s)
std::ostream &	writeBinary (std::ostream &s) const

Protected Attributes
float	data [3]

Constructor & Destructor Documentation

octomath::Vector3::Vector3 ( )

inline

Default constructor.

Definition at line 71 of file Vector3.h.

octomath::Vector3::Vector3 ( const Vector3 &  other )

inline

Copy constructor.

Parameters

other

a vector of dimension 3

Definition at line 78 of file Vector3.h.

octomath::Vector3::Vector3 ( float  x, float  y, float  z  )

inline

Constructor.

Constructs a three-dimensional vector from three single values x, y, z or roll, pitch, yaw

Definition at line 90 of file Vector3.h.

Member Function Documentation

double octomath::Vector3::angleTo ( const Vector3 &  other ) const

inline

Definition at line 294 of file Vector3.h.

References mrpt::math::norm(), and norm().

Vector3 octomath::Vector3::cross ( const Vector3 &  other ) const

inline

Three-dimensional vector (cross) product.

Calculates the tree-dimensional cross product, which represents the vector orthogonal to the plane defined by this and other.

Returns

this x other

Definition at line 122 of file Vector3.h.

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

double octomath::Vector3::distance ( const Vector3 &  other ) const

inline

Definition at line 302 of file Vector3.h.

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

double octomath::Vector3::distanceXY ( const Vector3 &  other ) const

inline

Definition at line 309 of file Vector3.h.

References x(), and y().

double octomath::Vector3::dot ( const Vector3 &  other ) const

inline

Definition at line 131 of file Vector3.h.

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

double octomath::Vector3::norm ( ) const

inline

Definition at line 273 of file Vector3.h.

Referenced by angleTo().

Vector3& octomath::Vector3::normalize ( )

inline

Definition at line 281 of file Vector3.h.

References mrpt::math::norm().

Referenced by normalized().

Vector3 octomath::Vector3::normalized ( ) const

inline

Definition at line 288 of file Vector3.h.

References normalize().

const float& octomath::Vector3::operator() ( unsigned int  i ) const

inline

Definition at line 136 of file Vector3.h.

float& octomath::Vector3::operator() ( unsigned int  i )

inline

Definition at line 140 of file Vector3.h.

Vector3 octomath::Vector3::operator* ( float  x ) const

inline

Definition at line 223 of file Vector3.h.

void octomath::Vector3::operator*= ( float  x )

inline

Definition at line 259 of file Vector3.h.

Vector3 octomath::Vector3::operator+ ( const Vector3 &  other ) const

inline

Definition at line 214 of file Vector3.h.

void octomath::Vector3::operator+= ( const Vector3 &  other )

inline

Definition at line 240 of file Vector3.h.

Vector3 octomath::Vector3::operator- ( ) const

inline

Definition at line 205 of file Vector3.h.

Vector3 octomath::Vector3::operator- ( const Vector3 &  other ) const

inline

Definition at line 231 of file Vector3.h.

void octomath::Vector3::operator-= ( const Vector3 &  other )

inline

Definition at line 247 of file Vector3.h.

void octomath::Vector3::operator/= ( float  x )

inline

Definition at line 253 of file Vector3.h.

Vector3& octomath::Vector3::operator= ( const Vector3 &  other )

inline

Assignment operator.

Parameters

other

a vector of dimension 3

Definition at line 106 of file Vector3.h.

bool octomath::Vector3::operator== ( const Vector3 &  other ) const

inline

Definition at line 265 of file Vector3.h.

float& octomath::Vector3::pitch ( )

inline

Definition at line 180 of file Vector3.h.

const float& octomath::Vector3::pitch ( ) const

inline

Definition at line 195 of file Vector3.h.

std::istream& octomath::Vector3::read

(

std::istream &

s

)

std::istream& octomath::Vector3::readBinary

(

std::istream &

s

)

float& octomath::Vector3::roll ( )

inline

Definition at line 175 of file Vector3.h.

const float& octomath::Vector3::roll ( ) const

inline

Definition at line 190 of file Vector3.h.

Vector3& octomath::Vector3::rotate_IP	(	double	roll,
		double	pitch,
		double	yaw
	)

std::ostream& octomath::Vector3::write

(

std::ostream &

s

)

const

std::ostream& octomath::Vector3::writeBinary

(

std::ostream &

s

)

const

float& octomath::Vector3::x ( )

inline

Definition at line 145 of file Vector3.h.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::castRay(), cross(), distance(), distanceXY(), and dot().

const float& octomath::Vector3::x ( ) const

inline

Definition at line 160 of file Vector3.h.

float& octomath::Vector3::y ( )

inline

Definition at line 150 of file Vector3.h.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::castRay(), cross(), distance(), distanceXY(), and dot().

const float& octomath::Vector3::y ( ) const

inline

Definition at line 165 of file Vector3.h.

float& octomath::Vector3::yaw ( )

inline

Definition at line 185 of file Vector3.h.

const float& octomath::Vector3::yaw ( ) const

inline

Definition at line 200 of file Vector3.h.

float& octomath::Vector3::z ( )

inline

Definition at line 155 of file Vector3.h.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::castRay(), cross(), distance(), and dot().

const float& octomath::Vector3::z ( ) const

inline

Definition at line 170 of file Vector3.h.

Member Data Documentation

float octomath::Vector3::data[3]

protected

Definition at line 325 of file Vector3.h.