VectorND< N, T > Class Template Reference

A N-Dimensional Vector. More...

#include <VectorND.hpp>

Inherits Serializable.

Public Types
typedef Eigen::Matrix< T, N, 1 >	EigenVectorND
	The type of the internal Eigen Vector.
typedef T	value_type
	Value type.

Public Member Functions
	VectorND ()
	Creates a N-dimensional VectorND.
template<typename... ARGS>
	VectorND (T arg0, ARGS... args)
	Construct a Vector from N arguments. More...
	VectorND (const std::vector< T > &vec)
	construct vector from std::vector More...
template<class R >
	VectorND (const Eigen::MatrixBase< R > &v)
	Creates a 3D VectorND from Eigen type. More...
size_t	size () const
	The dimension of the VectorND (i.e. 3). This method is provided to help support generic algorithms using size() and operator[].
template<class R >
VectorND< N, T >	elemMultiply (const Eigen::MatrixBase< R > &rhs) const
	element wise multiplication. More...
template<class R >
VectorND< N, T >	elemDivide (const Eigen::MatrixBase< R > &rhs) const
	element wise division. More...
template<class R >
VectorND< N, T >	operator- (const Eigen::MatrixBase< R > &rhs) const
	Vector subtraction.
template<class R >
VectorND< N, T >	operator+ (const Eigen::MatrixBase< R > &rhs) const
	Vector addition.
VectorND< N, T >	elemDivide (const VectorND< N, T > &rhs) const
	element wise division. More...
VectorND< N, T >	elemMultiply (const VectorND< N, T > &rhs) const
	Elementweise multiplication. More...
VectorND< N, T >	operator- (const VectorND< N, T > &rhs) const
	Vector subtraction.
VectorND< N, T >	operator+ (const VectorND< N, T > &rhs) const
	Vector addition.
VectorND< N, T >	operator- () const
	Unary minus. More...
VectorND< N, T >	operator/ (T rhs) const
	Scalar division. More...
VectorND< N, T >	operator* (T rhs) const
	Scalar multiplication. More...
VectorND< N, T >	elemSubtract (const T &rhs) const
	Scalar subtraction.
VectorND< N, T >	elemAdd (const T &rhs) const
	Scalar addition.
T	norm2 () const
	Returns the Euclidean norm (2-norm) of the VectorND. More...
T	norm1 () const
	Returns the Manhatten norm (1-norm) of the VectorND. More...
T	normInf () const
	Returns the infinte norm ( \(\inf\)-norm) of the VectorND. More...
double	dot (const VectorND< N, T > &vec) const
	calculate the dot product More...
VectorND< N, T >	normalize ()
	normalize vector to get length 1 More...
const T &	operator() (size_t i) const
	Returns reference to VectorND element. More...
T &	operator() (size_t i)
	Returns reference to VectorND element. More...
const T &	operator[] (size_t i) const
	Returns reference to VectorND element. More...
T &	operator[] (size_t i)
	Returns reference to VectorND element. More...
EigenVectorND &	e ()
	Accessor for the internal Eigen VectorND.
const EigenVectorND &	e () const
	Accessor for the internal Eigen VectorND.
std::vector< T >	toStdVector () const
	converts the vector to a std:vector More...
VectorND< N, T > &	operator*= (double s)
	Scalar multiplication.
VectorND< N, T > &	operator/= (double s)
	Scalar division.
VectorND< N, T > &	operator+= (const VectorND< N, T > &v)
	Vector addition.
VectorND< N, T > &	operator-= (const VectorND< N, T > &v)
	Vector subtraction.
template<class R >
VectorND< N, T > &	operator= (const Eigen::MatrixBase< R > &r)
	copy a vector from eigen type More...
template<class R >
VectorND< N, T > &	operator+= (const Eigen::MatrixBase< R > &r)
	Vector addition.
template<class R >
VectorND< N, T > &	operator-= (const Eigen::MatrixBase< R > &r)
	Vector subtraction.
template<class R >
bool	operator== (const Eigen::MatrixBase< R > &rhs) const
	Compare with rhs for equality. More...
template<class R >
bool	operator!= (const Eigen::MatrixBase< R > &rhs) const
	Compare with rhs for inequality. More...
bool	operator== (const VectorND< N, T > &rhs) const
	Compare with rhs for equality. More...
bool	operator!= (const VectorND< N, T > &rhs) const
	Compare with rhs for inequality. More...
void	write (rw::common::OutputArchive &oarchive, const std::string &id) const
void	read (rw::common::InputArchive &iarchive, const std::string &id)
	operator EigenVectorND () const
	implicit conversion to EigenVector
	operator EigenVectorND & ()
	implicit conversion to EigenVector
Public Member Functions inherited from Serializable
virtual	~Serializable ()
	destructor

Static Public Member Functions
static VectorND< N, T >	zero ()
	Get zero-initialized vector. More...

Friends
template<class R >
VectorND< N, T >	operator- (const Eigen::MatrixBase< R > &lhs, const VectorND< N, T > &rhs)
	Vector subtraction.
template<class R >
VectorND< N, T >	operator+ (const Eigen::MatrixBase< R > &lhs, const VectorND< N, T > &rhs)
	Vector subtraction.
VectorND< N, T >	operator/ (T lhs, const VectorND< N, T > &rhs)
	Scalar division. More...
VectorND< N, T >	operator* (T lhs, const VectorND< N, T > &rhs)
	Scalar multiplication. More...
std::ostream &	operator<< (std::ostream &out, const VectorND< N, T > &v)
	Streaming operator. More...
template<class R >
bool	operator== (const Eigen::MatrixBase< R > &lhs, const VectorND< N, T > &rhs)
	Compare with rhs for equality. More...
template<class R >
bool	operator!= (const Eigen::MatrixBase< R > &lhs, const VectorND< N, T > &rhs)
	Compare with rhs for inequality. More...

Related Functions
(Note that these are not member functions.)
template<size_t ND, class T >
const VectorND< ND, T >	cross (const VectorND< ND, T > &v1, const VectorND< ND, T > &v2)
	Calculates the 3D VectorND cross product \( \mathbf{v1} \times \mathbf{v2} \). More...
template<size_t ND, class T >
void	cross (const VectorND< ND, T > &v1, const VectorND< ND, T > &v2, VectorND< ND, T > &dst)
	Calculates the 3D VectorND cross product \( \mathbf{v1} \times \mathbf{v2} \). More...
template<size_t ND, class T >
T	dot (const VectorND< ND, T > &v1, const VectorND< ND, T > &v2)
	Calculates the dot product \( \mathbf{v1} . \mathbf{v2} \). More...
template<size_t ND, class T >
const VectorND< ND, T >	normalize (const VectorND< ND, T > &v)
	Returns the normalized VectorND \(\mathbf{n}=\frac{\mathbf{v}}{\|\mathbf{v}\|} \). In case \( \|mathbf{v}\| = 0\) the zero VectorND is returned. More...
template<size_t ND, class T >
double	angle (const VectorND< ND, T > &v1, const VectorND< ND, T > &v2, const VectorND< ND, T > &n)
	Calculates the angle from \( \mathbf{v1}\) to \( \mathbf{v2} \) around the axis defined by \( \mathbf{v1} \times \mathbf{v2} \) with n determining the sign. More...
template<size_t ND, class T >
double	angle (const VectorND< ND, T > &v1, const VectorND< ND, T > &v2)
	Calculates the angle from \( \mathbf{v1}\) to \( \mathbf{v2} \) around the axis defined by \( \mathbf{v1} \times \mathbf{v2} \). More...
template<class Q , size_t ND, class T >
const VectorND< ND, Q >	cast (const VectorND< ND, T > &v)
	Casts VectorND<N,T> to VectorND<Q> More...

Detailed Description

template<size_t N, class T = double>
class rw::math::VectorND< N, T >

A N-Dimensional Vector.

Constructor & Destructor Documentation

VectorND() [1/3]

VectorND ( T  arg0, ARGS...  args  )

inline

Construct a Vector from N arguments.

Parameters

arg0	[in] first argument
args	[in] a list of arguments

VectorND() [2/3]

VectorND ( const std::vector< T > &  vec )

inline

construct vector from std::vector

Parameters

vec	[in] the vector to construct from

VectorND() [3/3]

VectorND ( const Eigen::MatrixBase< R > &  v )

inline

Creates a 3D VectorND from Eigen type.

Parameters

v	[in] an Eigen vector.

Member Function Documentation

dot()

double dot ( const VectorND< N, T > &  vec ) const

inline

calculate the dot product

Parameters

vec	[in] the vecor to be dotted

Returns

the dot product

elemDivide() [1/2]

VectorND<N, T> elemDivide ( const Eigen::MatrixBase< R > &  rhs ) const

inline

element wise division.

Parameters

rhs	[in] vector

Returns

the resulting VectorND

elemDivide() [2/2]

VectorND<N, T> elemDivide ( const VectorND< N, T > &  rhs ) const

inline

element wise division.

Parameters

rhs	[in] the vector being devided with

Returns

the resulting Vector3D

elemMultiply() [1/2]

VectorND<N, T> elemMultiply ( const Eigen::MatrixBase< R > &  rhs ) const

inline

element wise multiplication.

Parameters

rhs	[in] the vector being multiplied with

Returns

the resulting VectorND

elemMultiply() [2/2]

VectorND<N, T> elemMultiply ( const VectorND< N, T > &  rhs ) const

inline

Elementweise multiplication.

Parameters

rhs	[in] vector

Returns

the element wise product

norm1()

T norm1 ( ) const

inline

Returns the Manhatten norm (1-norm) of the VectorND.

Returns

the norm

norm2()

T norm2 ( ) const

inline

Returns the Euclidean norm (2-norm) of the VectorND.

Returns

the norm

normalize()

VectorND<N, T> normalize ( )

inline

normalize vector to get length 1

Returns

the normalized Vector

normInf()

T normInf ( ) const

inline

Returns the infinte norm ( \(\inf\)-norm) of the VectorND.

Returns

the norm

operator!=() [1/2]

bool operator!= ( const Eigen::MatrixBase< R > &  rhs ) const

inline

Compare with rhs for inequality.

Parameters

rhs	[in] other vector.

Returns

True if this and rhs are different, false otherwise.

operator!=() [2/2]

bool operator!= ( const VectorND< N, T > &  rhs ) const

inline

Compare with rhs for inequality.

Parameters

rhs	[in] other vector.

Returns

True if this and rhs are different, false otherwise.

operator()() [1/2]

T& operator() ( size_t  i )

inline

Returns reference to VectorND element.

Parameters

i	[in] index in the VectorND \(i\in \{0,1,2\} \)

Returns

reference to element

operator()() [2/2]

const T& operator() ( size_t  i ) const

inline

Returns reference to VectorND element.

Parameters

i	[in] index in the VectorND \(i\in \{0,1,2\} \)

Returns

const reference to element

operator*()

VectorND<N, T> operator* ( T  rhs ) const

inline

Scalar multiplication.

Parameters

rhs	[in] the scalar to multiply with

Returns

the product

operator-()

VectorND<N, T> operator- ( ) const

inline

Unary minus.

negative version

operator/()

VectorND<N, T> operator/ ( T  rhs ) const

inline

Scalar division.

Parameters

rhs	[in] the scalar to devide with

Returns

result of devision

operator=()

VectorND<N, T>& operator= ( const Eigen::MatrixBase< R > &  r )

inline

copy a vector from eigen type

Parameters

r	[in] an Eigen Vector

operator==() [1/2]

bool operator== ( const Eigen::MatrixBase< R > &  rhs ) const

inline

Compare with rhs for equality.

Parameters

rhs	[in] other vector.

Returns

True if a equals b, false otherwise.

operator==() [2/2]

bool operator== ( const VectorND< N, T > &  rhs ) const

inline

Compare with rhs for equality.

Parameters

rhs	[in] other vector.

Returns

True if this equals rhs, false otherwise.

operator[]() [1/2]

T& operator[] ( size_t  i )

inline

Returns reference to VectorND element.

Parameters

i	[in] index in the VectorND \(i\in \{0,1,2\} \)

Returns

reference to element

operator[]() [2/2]

const T& operator[] ( size_t  i ) const

inline

Returns reference to VectorND element.

Parameters

i	[in] index in the VectorND \(i\in \{0,1,2\} \)

Returns

const reference to element

read()

void read ( rw::common::InputArchive &  iarchive, const std::string &  id  )

inlinevirtual

Enable read-serialization of inherited class by implementing this method. Data is read from iarchive and filled into this object.

Parameters

iarchive	[in] the InputArchive from which to read data.
id	[in] The id of the serialized sobject.

Note

the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

Implements Serializable.

toStdVector()

std::vector<T> toStdVector ( ) const

inline

converts the vector to a std:vector

Returns

a std::vector

write()

void write ( rw::common::OutputArchive &  oarchive, const std::string &  id  ) const

inlinevirtual

Enable write-serialization of inherited class by implementing this method. Data is written to oarchive from this object.

Parameters

oarchive	[out] the OutputArchive in which data should be written.
id	[in] The id of the serialized sobject.

Note

the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

Implements Serializable.

zero()

static VectorND<N, T> zero ( )

inlinestatic

Get zero-initialized vector.

Returns

vector.

Friends And Related Function Documentation

angle() [1/2]

double angle ( const VectorND< ND, T > &  v1, const VectorND< ND, T > &  v2  )

related

Calculates the angle from \( \mathbf{v1}\) to \( \mathbf{v2} \) around the axis defined by \( \mathbf{v1} \times \mathbf{v2} \).

Parameters

v1	[in] \( \mathbf{v1} \)
v2	[in] \( \mathbf{v2} \)

Returns

the angle

angle() [2/2]

double angle ( const VectorND< ND, T > &  v1, const VectorND< ND, T > &  v2, const VectorND< ND, T > &  n  )

related

Calculates the angle from \( \mathbf{v1}\) to \( \mathbf{v2} \) around the axis defined by \( \mathbf{v1} \times \mathbf{v2} \) with n determining the sign.

Parameters

v1	[in] \( \mathbf{v1} \)
v2	[in] \( \mathbf{v2} \)
n	[in] \( \mathbf{n} \)

Returns

the angle

cast()

const VectorND< ND, Q > cast ( const VectorND< ND, T > &  v )

related

Casts VectorND<N,T> to VectorND<Q>

Parameters

v	[in] VectorND with type T

Returns

VectorND with type Q

cross() [1/2]

const VectorND< ND, T > cross ( const VectorND< ND, T > &  v1, const VectorND< ND, T > &  v2  )

related

Calculates the 3D VectorND cross product \( \mathbf{v1} \times \mathbf{v2} \).

Parameters

v1	[in] \( \mathbf{v1} \)
v2	[in] \( \mathbf{v2} \)

Returns

the 3D VectorND cross product \( \mathbf{v1} \times \mathbf{v2} \)

The 3D VectorND cross product is defined as: \( \mathbf{v1} \times \mathbf{v2} = \left[\begin{array}{c} v1_y * v2_z - v1_z * v2_y \\ v1_z * v2_x - v1_x * v2_z \\ v1_x * v2_y - v1_y * v2_x \end{array}\right] \)

cross() [2/2]

void cross ( const VectorND< ND, T > &  v1, const VectorND< ND, T > &  v2, VectorND< ND, T > &  dst  )

related

Calculates the 3D VectorND cross product \( \mathbf{v1} \times \mathbf{v2} \).

Parameters

v1	[in] \( \mathbf{v1} \)
v2	[in] \( \mathbf{v2} \)
dst	[out] the 3D VectorND cross product \( \mathbf{v1} \times \mathbf{v2} \)

The 3D VectorND cross product is defined as: \( \mathbf{v1} \times \mathbf{v2} = \left[\begin{array}{c} v1_y * v2_z - v1_z * v2_y \\ v1_z * v2_x - v1_x * v2_z \\ v1_x * v2_y - v1_y * v2_x \end{array}\right] \)

dot()

T dot ( const VectorND< ND, T > &  v1, const VectorND< ND, T > &  v2  )

related

Calculates the dot product \( \mathbf{v1} . \mathbf{v2} \).

Parameters

v1	[in] \( \mathbf{v1} \)
v2	[in] \( \mathbf{v2} \)

Returns

the dot product \( \mathbf{v1} . \mathbf{v2} \)

normalize()

const VectorND< ND, T > normalize ( const VectorND< ND, T > &  v )

related

Returns the normalized VectorND \(\mathbf{n}=\frac{\mathbf{v}}{\|\mathbf{v}\|} \). In case \( \|mathbf{v}\| = 0\) the zero VectorND is returned.

Parameters

v	[in] \( \mathbf{v} \) which should be normalized

Returns

the normalized VectorND \( \mathbf{n} \)

operator!=

bool operator!= ( const Eigen::MatrixBase< R > &  lhs, const VectorND< N, T > &  rhs  )

friend

Compare with rhs for inequality.

Parameters

lhs	[in] first vector.
rhs	[in] other vector.

Returns

True if lhs and rhs are different, false otherwise.

operator*

VectorND<N, T> operator* ( T  lhs, const VectorND< N, T > &  rhs  )

friend

Scalar multiplication.

Parameters

lhs	[in] the scalar to multiply with
rhs	[in] the Vector to be multiplied

Returns

the product

operator/

VectorND<N, T> operator/ ( T  lhs, const VectorND< N, T > &  rhs  )

friend

Scalar division.

Parameters

lhs	[in] the scalar to devide with
rhs	[out] the vector beind devided

Returns

result of devision

operator<<

std::ostream& operator<< ( std::ostream &  out, const VectorND< N, T > &  v  )

friend

Streaming operator.

Parameters

out	[in/out] the stream to continue
v	[in] the vector to stream

Returns

reference to out

operator==

bool operator== ( const Eigen::MatrixBase< R > &  lhs, const VectorND< N, T > &  rhs  )

friend

Compare with rhs for equality.

Parameters

lhs	[in] first vector.
rhs	[in] other vector.

Returns

True if lhs equals rhs, false otherwise.

---

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

• core/math_fwd.hpp
• VectorND.hpp