KDL::Vector2 Class Reference

2D version of Vector More...

#include <src/frames.hpp>

Public Member Functions
	Vector2 ()
	Does not initialise to Zero().
	Vector2 (double x, double y)
	Vector2 (const Vector2 &arg)
Vector2 &	operator= (const Vector2 &arg)
double	operator() (int index) const
	Access to elements, range checked when NDEBUG is not set, from 0..1.
double &	operator() (int index)
	Access to elements, range checked when NDEBUG is not set, from 0..1.
double	operator[] (int index) const
	Equivalent to double operator()(int index) const.
double &	operator[] (int index)
	Equivalent to double& operator()(int index).
double	x () const
double	y () const
void	x (double)
void	y (double)
void	ReverseSign ()
Vector2 &	operator-= (const Vector2 &arg)
Vector2 &	operator+= (const Vector2 &arg)
double	Normalize (double eps=epsilon)
	Normalizes this vector and returns it norm makes v a unitvector and returns the norm of v.
double	Norm (double eps=epsilon) const
void	Set3DXY (const Vector &v)
	projects v in its XY plane, and sets *this to these values
void	Set3DYZ (const Vector &v)
	projects v in its YZ plane, and sets *this to these values
void	Set3DZX (const Vector &v)
	projects v in its ZX plane, and sets *this to these values
void	Set3DPlane (const Frame &F_someframe_XY, const Vector &v_someframe)
	projects v_someframe in the XY plane of F_someframe_XY, and sets *this to these values expressed wrt someframe.

Static Public Member Functions
static Vector2	Zero ()

Private Attributes
double	data [2]

Friends
class	Rotation2
Vector2	operator* (const Vector2 &lhs, double rhs)
Vector2	operator* (double lhs, const Vector2 &rhs)
Vector2	operator/ (const Vector2 &lhs, double rhs)
Vector2	operator+ (const Vector2 &lhs, const Vector2 &rhs)
Vector2	operator- (const Vector2 &lhs, const Vector2 &rhs)
Vector2	operator* (const Vector2 &lhs, const Vector2 &rhs)
Vector2	operator- (const Vector2 &arg)
void	SetToZero (Vector2 &v)
bool	Equal (const Vector2 &a, const Vector2 &b, double eps=epsilon)
	do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval
bool	operator== (const Vector2 &a, const Vector2 &b)
	The literal equality operator==(), also identical.
bool	operator!= (const Vector2 &a, const Vector2 &b)
	The literal inequality operator!=().

Detailed Description

2D version of Vector

Constructor & Destructor Documentation

Vector2() [1/3]

KDL::Vector2::Vector2 ( )

inline

Does not initialise to Zero().

References data.

Referenced by KDL::Frame2::Inverse(), Normalize(), and operator*.

Vector2() [2/3]

IMETHOD Vector2::Vector2 ( double x, double y )

inline

Vector2() [3/3]

IMETHOD Vector2::Vector2 ( const Vector2 & arg )

inline

Member Function Documentation

Norm()

double KDL::Vector2::Norm

(

double

eps = epsilon

)

const

Returns

the norm of the vector

References data.

Referenced by Normalize().

Normalize()

double KDL::Vector2::Normalize

(

double

eps = epsilon

)

Normalizes this vector and returns it norm makes v a unitvector and returns the norm of v.

if v is smaller than eps, Vector(1,0,0) is returned with norm 0. if this is not good, check the return value of this method.

References Norm(), and Vector2().

operator()() [1/2]

IMETHOD double & Vector2::operator() ( int index )

inline

Access to elements, range checked when NDEBUG is not set, from 0..1.

operator()() [2/2]

IMETHOD double Vector2::operator() ( int index ) const

inline

Access to elements, range checked when NDEBUG is not set, from 0..1.

Referenced by KDL::Frame2::operator()(), and operator[]().

operator+=()

IMETHOD Vector2 & Vector2::operator+= ( const Vector2 & arg )

inline

operator-=()

IMETHOD Vector2 & Vector2::operator-= ( const Vector2 & arg )

inline

operator=()

IMETHOD Vector2 & Vector2::operator= ( const Vector2 & arg )

inline

operator[]() [1/2]

double & KDL::Vector2::operator[] ( int index )

inline

Equivalent to double& operator()(int index).

References operator()().

operator[]() [2/2]

double KDL::Vector2::operator[] ( int index ) const

inline

Equivalent to double operator()(int index) const.

ReverseSign()

IMETHOD void Vector2::ReverseSign ( )

inline

Set3DPlane()

IMETHOD void Vector2::Set3DPlane ( const Frame & F_someframe_XY, const Vector & v_someframe )

inline

projects v_someframe in the XY plane of F_someframe_XY, and sets *this to these values expressed wrt someframe.

Set3DXY()

IMETHOD void Vector2::Set3DXY ( const Vector & v )

inline

projects v in its XY plane, and sets *this to these values

Set3DYZ()

IMETHOD void Vector2::Set3DYZ ( const Vector & v )

inline

projects v in its YZ plane, and sets *this to these values

Set3DZX()

IMETHOD void Vector2::Set3DZX ( const Vector & v )

inline

projects v in its ZX plane, and sets *this to these values

x() [1/2]

IMETHOD double Vector2::x ( ) const

inline

x() [2/2]

IMETHOD void Vector2::x ( double _x )

inline

y() [1/2]

IMETHOD double Vector2::y ( ) const

inline

y() [2/2]

IMETHOD void Vector2::y ( double _y )

inline

Zero()

IMETHOD Vector2 Vector2::Zero ( )

inlinestatic

Returns

a zero 2D vector.

Friends And Related Symbol Documentation

Equal

bool Equal ( const Vector2 & a, const Vector2 & b, double eps = epsilon )

friend

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

operator!=

bool operator!= ( const Vector2 & a, const Vector2 & b )

friend

The literal inequality operator!=().

operator* [1/3]

Vector2 operator* ( const Vector2 & lhs, const Vector2 & rhs )

friend

References Vector2().

operator* [2/3]

Vector2 operator* ( const Vector2 & lhs, double rhs )

friend

operator* [3/3]

Vector2 operator* ( double lhs, const Vector2 & rhs )

friend

operator+

Vector2 operator+ ( const Vector2 & lhs, const Vector2 & rhs )

friend

operator- [1/2]

Vector2 operator- ( const Vector2 & arg )

friend

operator- [2/2]

Vector2 operator- ( const Vector2 & lhs, const Vector2 & rhs )

friend

operator/

Vector2 operator/ ( const Vector2 & lhs, double rhs )

friend

operator==

bool operator== ( const Vector2 & a, const Vector2 & b )

friend

The literal equality operator==(), also identical.

Rotation2

friend class Rotation2

friend

Referenced by SetToZero.

SetToZero

void SetToZero ( Vector2 & v )

friend

References Rotation2.

Member Data Documentation

data

double KDL::Vector2::data[2]

private

Referenced by Norm(), and Vector2().

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

• src/frames.hpp
• src/frames.cpp
• src/frames.inl