KDL::Vector2 Class Reference

2D version of Vector More...

#include <frames.hpp>

List of all members.

Public Member Functions
	Vector2 ()
	Does not initialise to Zero().
	Vector2 (double x, double y)
	Vector2 (const Vector2 &arg)
	Vector2 (double *xyz)
	Vector2 (float *xyz)
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.
void	GetValue (double *xy) const
	store vector components in array
void	ReverseSign ()
Vector2 &	operator-= (const Vector2 &arg)
Vector2 &	operator+= (const Vector2 &arg)
double	Normalize (double eps=epsilon)
double	Norm () 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)
Static Public Member Functions
static Vector2	Zero ()
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)

---

Detailed Description

2D version of Vector

Definition at line 913 of file frames.hpp.

---

Constructor & Destructor Documentation

KDL::Vector2::Vector2

(

)

[inline]

Does not initialise to Zero().

Definition at line 918 of file frames.hpp.

Referenced by Normalize().

IMETHOD Vector2::Vector2	(	double	x,
		double	y
	)		[inline]

Definition at line 756 of file frames.inl.

IMETHOD Vector2::Vector2

(

const Vector2 &

arg

)

[inline]

Definition at line 750 of file frames.inl.

KDL::Vector2::Vector2

(

double *

xyz

)

[inline]

KDL::Vector2::Vector2

(

float *

xyz

)

[inline]

---

Member Function Documentation

IMETHOD void Vector2::GetValue

(

double *

xy

)

const [inline]

store vector components in array

Definition at line 51 of file frames.inl.

References data.

double KDL::Vector2::Norm

(

)

const [inline]

Returns:

the norm of the vector

Definition at line 87 of file frames.cpp.

References fabs(), KDL::sqr(), and KDL::sqrt().

Referenced by 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.

Definition at line 102 of file frames.cpp.

References Norm(), and Vector2().

Referenced by KDL::Rotation::GetXZRot().

double KDL::Vector2::operator()

(

int

index

)

const [inline]

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

IMETHOD double & Vector2::operator()

(

int

index

)

[inline]

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

Definition at line 831 of file frames.inl.

References FRAMES_CHECKI.

Vector2& KDL::Vector2::operator+=

(

const Vector2 &

arg

)

[inline]

Vector2& KDL::Vector2::operator-=

(

const Vector2 &

arg

)

[inline]

Vector2& KDL::Vector2::operator=

(

const Vector2 &

arg

)

[inline]

void KDL::Vector2::ReverseSign

(

)

[inline]

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.

Definition at line 868 of file frames.inl.

References KDL::Frame::Inverse().

IMETHOD void Vector2::Set3DXY

(

const Vector &

v

)

[inline]

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

Definition at line 849 of file frames.inl.

IMETHOD void Vector2::Set3DYZ

(

const Vector &

v

)

[inline]

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

Definition at line 855 of file frames.inl.

IMETHOD void Vector2::Set3DZX

(

const Vector &

v

)

[inline]

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

Definition at line 861 of file frames.inl.

static Vector2 KDL::Vector2::Zero

(

)

[inline, static]

Returns:

a zero 2D vector.

Referenced by KDL::Frame2::Frame2(), and SetToZero().

---

Friends And Related Function Documentation

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

Vector2 operator*	(	const Vector2 &	lhs,
		double	rhs
	)		[friend]

Vector2 operator*	(	double	lhs,
		const Vector2 &	rhs
	)		[friend]

Vector2 operator*	(	const Vector2 &	lhs,
		const Vector2 &	rhs
	)		[friend]

Vector2 operator+	(	const Vector2 &	lhs,
		const Vector2 &	rhs
	)		[friend]

Vector2 operator-

(

const Vector2 &

arg

)

[friend]

Vector2 operator-	(	const Vector2 &	lhs,
		const Vector2 &	rhs
	)		[friend]

Vector2 operator/	(	const Vector2 &	lhs,
		double	rhs
	)		[friend]

friend class Rotation2 [friend]

Definition at line 981 of file frames.hpp.

void SetToZero

(

Vector2 &

v

)

[friend]

---

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

• frames.hpp
• frames.cpp
• frames.inl