Vec3 Class Reference

3 dimensional vector More...

#include <LieGroup.h>

List of all members.

Public Member Functions
	Vec3 (scalar c0, scalar c1, scalar c2)
	Vec3 (int c)
	Vec3 (scalar c)
	Vec3 (const scalar v[])
scalar	Normalize (void)
Operators
const Vec3 &	operator+ (void) const
Vec3	operator- (void) const
scalar &	operator[] (int idx)
const scalar &	operator[] (int) const
const Vec3 &	operator= (const Vec3 &)
const Vec3 &	operator= (scalar c)
const Vec3 &	operator= (const SE3 &T)
const Vec3 &	operator+= (const Vec3 &)
const Vec3 &	operator-= (const Vec3 &)
const Vec3 &	operator*= (scalar)
Vec3	operator* (scalar) const
Vec3	operator+ (const Vec3 &) const
Vec3	operator- (const Vec3 &) const
Friends
ostream &	operator<< (ostream &, const Vec3 &)
Vec3	operator* (scalar c, const Vec3 &p)
scalar	Norm (const Vec3 &p)
Vec3	Normalize (const Vec3 &p)
Vec3	Cross (const Vec3 &p, const Vec3 &a)
scalar	Inner (const Vec3 &p, const Vec3 &a)
scalar	SquareSum (const Vec3 &)
dse3	dAd (const SE3 &T, const Vec3 &F)
dse3	InvdAd (const Vec3 &p, const Vec3 &F)
Vec3	InvAd (const SE3 &T, const Vec3 &v)
SE3	EulerZYX (const Vec3 &)
SE3	EulerZYX (const Vec3 &angle, const Vec3 &position)
SE3	EulerZYZ (const Vec3 &)
SE3	EulerZYZ (const Vec3 &angle, const Vec3 &position)
Vec3	Rotate (const SE3 &T, const Vec3 &q)
Vec3	InvRotate (const SE3 &T, const Vec3 &q)
Vec3	ad (const Vec3 &v, const se3 &S)

---

Detailed Description

Vec3 is a class for representing 3 dimensional vector.

Examples:

pendulum.cpp.

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Constructor & Destructor Documentation

Vec3::Vec3	(	scalar	c0,
		scalar	c1,
		scalar	c2
	)			[explicit]

constructor : (c0, c1, c2)

Vec3::Vec3

(

int

c

)

[explicit]

constructor : (c, c, c)

Vec3::Vec3

(

scalar

c

)

[explicit]

constructor : (c, c, c)

Vec3::Vec3

(

const scalar

v[]

)

[explicit]

constructor : (v[0], v[1], v[2])

---

Member Function Documentation

const Vec3 & Vec3::operator+

(

void

)

const

unary plus operator

Vec3 Vec3::operator-

(

void

)

const

unary minus operator

scalar & Vec3::operator[]

(

int

idx

)

access to the idx th element.

const Vec3 & Vec3::operator=

(

const Vec3 &

v

)

substitution operator

const Vec3 & Vec3::operator=

(

scalar

c

)

substitute operator set all the elements to be c.

const Vec3 & Vec3::operator=

(

const SE3 &

T

)

substitute operator set elements from the position part of T.

const Vec3 & Vec3::operator+=

(

const Vec3 &

v

)

addition and substitution operator

const Vec3 & Vec3::operator-=

(

const Vec3 &

v

)

-= operator

const Vec3 & Vec3::operator*=

(

scalar

d

)

= operator

Vec3 Vec3::operator*

(

scalar

d

)

const

multiplication operator

Vec3 Vec3::operator+

(

const Vec3 &

v

)

const

addition operator

Vec3 Vec3::operator-

(

const Vec3 &

v

)

const

subtraction operator

scalar Vec3::Normalize

(

void

)

normalize the vector.

Returns:

length of the vector.

---

Friends And Related Function Documentation

ostream& operator<<	(	ostream &	,
		const Vec3 &
	)			[friend]

standard output operator

Vec3 operator*	(	scalar	c,
		const Vec3 &	p
	)			[friend]

scalar multiplication

scalar Norm

(

const Vec3 &

p

)

[friend]

get a magnitude of p.

Vec3 Normalize

(

const Vec3 &

p

)

[friend]

get a normalized vector from p.

Vec3 Cross	(	const Vec3 &	p,
		const Vec3 &	a
	)			[friend]

get a cross product of p and q.

scalar Inner	(	const Vec3 &	p,
		const Vec3 &	a
	)			[friend]

get an inner product of p and q.

scalar SquareSum

(

const Vec3 &

p

)

[friend]

get a squared sum of all the elements in p.

dse3 dAd	(	const SE3 &	T,
		const Vec3 &	F
	)			[friend]

fast version of Ad(Inv(T), dse3(Vec3(0), F))

dse3 InvdAd	(	const Vec3 &	p,
		const Vec3 &	F
	)			[friend]

fast version of dAd(Inv(SE3(p)), dse3(Vec3(0), F))

Vec3 InvAd	(	const SE3 &	T,
		const Vec3 &	v
	)			[friend]

fast version of Ad(Inv(T), se3(Vec3(0), v))

SE3 EulerZYX

(

const Vec3 &

angle

)

[friend]

get a transformation matrix given by the Euler ZYX angle, where the positional part is set to be zero.

See also:

SE3::iEulerZYX

SE3 EulerZYX	(	const Vec3 &	angle,
		const Vec3 &	position
	)			[friend]

get a transformation matrix given by the Euler ZYX angle and position, where the positional part is set to be zero.

SE3 EulerZYZ

(

const Vec3 &

angle

)

[friend]

get a transformation matrix given by the Euler ZYZ angle, where the positional part is set to be zero.

See also:

SE3::iEulerZYZ

SE3 EulerZYZ	(	const Vec3 &	angle,
		const Vec3 &	position
	)			[friend]

get a transformation matrix given by the Euler ZYZ angle and position, where the positional part is set to be zero.

Vec3 Rotate	(	const SE3 &	T,
		const Vec3 &	q
	)			[friend]

rotate q by T.

Returns:

, where .

Vec3 InvRotate	(	const SE3 &	T,
		const Vec3 &	q
	)			[friend]

rotate q by Inv(T).

Vec3 ad	(	const Vec3 &	v,
		const se3 &	S
	)			[friend]

fast version of ad(se3(Vec3(0), v), S)