 Actin®  Version 5.2.0 Software for Robotics Simulation and Control
EcVector Class Reference

A three-element vector. More...

#include <ecVector.h>

Public Member Functions

EcVector ()
constructor

EcVector (EcReal x, EcReal y, EcReal z)
constructor from three reals

EcBoolean operator== (const EcVector &orig) const
equality operator

EcVectoroperator+= (const EcVector &v2)
add another vector to this vector and set this vector to the result

EcVectoroperator-= (const EcVector &v2)
subtract another vector from this vector and set this vector to the result

EcVectoroperator*= (EcReal s)
multiply this vector times a scalar and set this vector to the result

EcVector operator+ (const EcVector &v2) const
returns a vector equal to this vector plus another

EcVector operator- (const EcVector &v2) const
returns a vector equal to this vector minus another

EcVector operator* (EcReal a) const

EcVector operator/ (EcReal a) const

EcVector cross (const EcVector &v2) const
returns a vector equal to this vector cross another (vector cross product)

void cross (const EcVector &v2, EcVector &vc) const

EcReal dot (const EcVector &v2) const
returns a vector equal to this vector dot another (vector dot product)

EcReal mag () const
returns the magnitude of this vector

EcReal prod () const
returns the product of the three elements

EcReal magSquared () const
returns the magnitude squared of this vector (a fast operation)

EcVector unitVector () const
returns a unit vector in the same direction as this vector

EcVectornormalize ()
normalizes this vector

EcBoolean approxEq (const EcVector &v2, EcReal tol) const
tests that each element of this vector is within a tolerance of another

EcReal distanceTo (const EcVector &vec) const
find the Euclidean distance to another point

EcReal distanceSquaredTo (const EcVector &vec) const
find the Euclidean distance squared to another point

void computeDirectionalVector (const EcVector &destination, EcReal mag, EcVector &result) const
compute a vector which points from this vector (point) to the other vector (point) with a given magnitude. More...

const EcRealx () const
returns the x value of the vector

const EcRealy () const
returns the y value of the vector

const EcRealz () const
returns the z value of the vector

void setX (EcReal val)
sets the x value of the vector

void setY (EcReal val)
sets the y value of the vector

void setZ (EcReal val)
sets the z value of the vector

void set (EcReal x, EcReal y, EcReal z)
sets all values of the vector

void setToZero ()
sets all value to 0

const EcRealoperator[] (EcSizeT index) const
returns a value by index (0, 1, or 2) - const version.

EcRealoperator[] (EcSizeT index)
returns a value by index (0, 1, or 2) - nonconst version.

void perturb (EcReal scale)
perturb this vector by a random vector with mag()==scale

Static Public Member Functions

static const EcVectorzeroVector ()
returns a zero vector

static EcVector xVector (EcReal val=1.0)
returns [val, 0, 0]

static EcVector yVector (EcReal val=1.0)
returns [0, val, 0]

static EcVector zVector (EcReal val=1.0)
returns [0, 0, val]

Protected Attributes

EcReal m_Vector 
array holding the three vector elements

Static Protected Attributes

static const EcVector m_theZeroVector
a zero vector to return by reference

Detailed Description

A three-element vector.

It provides utilities such as magnitude, dot product, and cross product. This class has inline and virtual methods for speed optimization.

Examples:
controlExecutiveModifierExampleMain.cpp, ecCameraViewMain.cpp, ecCirclePathExampleDirection.cpp, ecPathFollowingMain.cpp, ecPathPlanningCoreMain.cpp, ecPathPlanningMain.cpp, ecPositionControlMain.cpp, ecProgrammaticConstructionMain.cpp, ecQuickStartKinematicsMain.cpp, ecQuickStartMain.cpp, ecRemoteCommandExampleMain.cpp, ecStatedSystemMain.cpp, and ecXmlMain.cpp.

Definition at line 20 of file ecVector.h.

Member Function Documentation

 void EcVector::computeDirectionalVector ( const EcVector & destination, EcReal mag, EcVector & result ) const

compute a vector which points from this vector (point) to the other vector (point) with a given magnitude.

Parameters
 [in] destination The destination point [in] mag The magnitude of the new vector [out] result The new vector
 void EcVector::cross ( const EcVector & v2, EcVector & vc ) const

vector cross product

Parameters
 [in] v2 This cross v2 is calculated. [out] vc vc equals this cross v2.
 EcVector EcVector::operator* ( EcReal a ) const
inline

returns a vector which has been multiplied by the scalar a on an element by element basis

Definition at line 93 of file ecVector.h.

 EcVector EcVector::operator/ ( EcReal a ) const

returns a vector which has been divided by the scalar a on an element by element basis

The documentation for this class was generated from the following file:
Created by Energid Technologies www.energid.com