fawkes::HomVector Class Reference

A homogeneous vector. More...

#include <geometry/hom_vector.h>

Inheritance diagram for fawkes::HomVector:

List of all members.

Public Member Functions
	HomVector (float x=0, float y=0, float z=0)
	Constructor.
	HomVector (const HomCoord &h)
	Constructor.
virtual	~HomVector ()
	Destructor.
float	length () const
	Calculates the length of the vector.
float	length_square () const
	Calculates the squared length length of the vector (faster than length.
HomVector &	set_length (float length)
	Scales the vector such that it has the given length.
HomVector &	unit ()
	Brings the vector to unit-length.
float	angle_xy (const HomVector &h) const
	Compute the angle between two vectors.
Public Member Functions inherited from fawkes::HomCoord
	HomCoord (const HomCoord &c)
	Copy constructor.
virtual	~HomCoord ()
	Destructor.
virtual float	x () const
	RO-getter for x.
virtual float &	x ()
	RW-getter for x.
virtual HomCoord &	x (float x)
	Setter function for x.
virtual float	y () const
	RO-getter for y.
virtual float &	y ()
	RW-getter for y.
virtual HomCoord &	y (float y)
	Setter function for y.
virtual float	z () const
	RO-getter for z.
virtual float &	z ()
	RW-getter for z.
virtual HomCoord &	z (float z)
	Setter function for z.
virtual float	w () const
	RO-getter for w.
virtual float &	w ()
	RW-getter for w.
virtual HomCoord &	w (float w)
	Setter function for w.
virtual HomCoord &	rotate_x (float rad)
	Convenience function to rotate the HomCoord around the x-axis.
virtual HomCoord &	rotate_y (float rad)
	Convenience function to rotate the HomCoord around the y-axis.
virtual HomCoord &	rotate_z (float rad)
	Convenience function to rotate the HomCoord around the z-axis.
HomCoord &	transform (const HomTransform &t)
	Transform the vector with the given transform.
virtual HomCoord	operator- (const HomCoord &h) const
	Subtraction operator.
virtual HomCoord &	operator-= (const HomCoord &h)
	Substraction-assignment operator.
virtual HomCoord	operator+ (const HomCoord &h) const
	Addition operator.
virtual HomCoord &	operator+= (const HomCoord &h)
	Addition-assignment operator.
virtual float	operator* (const HomCoord &h) const
	Calculates the dot product of two coords.
virtual HomCoord	operator* (const float s) const
	Mulitplication operator.
virtual HomCoord &	operator*= (const float s)
	Multiplication-assignment operator.
virtual HomCoord &	operator= (const HomCoord &h)
	Assignment operator.
virtual bool	operator== (const HomCoord &h) const
	Comparison operator.
virtual bool	operator!= (const HomCoord &h) const
	Inequality operator.
Public Member Functions inherited from fawkes::Printable
	Printable ()
	Constructor.
virtual	~Printable ()
	Destructor.

Additional Inherited Members
Protected Member Functions inherited from fawkes::HomCoord
	HomCoord (float x=0.0, float y=0.0, float z=0.0, float w=0.0)
	Constructor.
	HomCoord (const Vector &v)
	Constructor.
virtual std::ostream &	print (std::ostream &stream) const
	Appends the components of the HomCoord to the ostream.
Protected Attributes inherited from fawkes::HomCoord
Vector *	m_vector
	The internal data container.

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Detailed Description

A homogeneous vector.

Author:

Daniel Beck

Definition at line 31 of file hom_vector.h.

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Constructor & Destructor Documentation

fawkes::HomVector::HomVector	(	float	x = 0,
		float	y = 0,
		float	z = 0
	)

Constructor.

Parameters:

x	the x-coordinate
y	the y-coordinate
z	the z-coordinate

Definition at line 41 of file hom_vector.cpp.

fawkes::HomVector::HomVector

(

const HomCoord &

h

)

Constructor.

Parameters:

h	a HomCoord

Definition at line 49 of file hom_vector.cpp.

References fawkes::HomCoord::w().

fawkes::HomVector::~HomVector ( )

virtual

Destructor.

Definition at line 61 of file hom_vector.cpp.

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Member Function Documentation

float fawkes::HomVector::angle_xy

(

const HomVector &

v

)

const

Compute the angle between two vectors.

Parameters:

v	the other vector

Returns:

the angle (-M_PI ... M_PI)

Definition at line 117 of file hom_vector.cpp.

References length(), fawkes::HomCoord::x(), and fawkes::HomCoord::y().

float fawkes::HomVector::length

(

)

const

Calculates the length of the vector.

Returns:

the length

Definition at line 69 of file hom_vector.cpp.

References length_square().

Referenced by angle_xy(), fawkes::LineSegment::length(), and set_length().

float fawkes::HomVector::length_square

(

)

const

Calculates the squared length length of the vector (faster than length.

Returns:

the squared length

Definition at line 78 of file hom_vector.cpp.

References fawkes::HomCoord::x(), fawkes::HomCoord::y(), and fawkes::HomCoord::z().

Referenced by length().

HomVector & fawkes::HomVector::set_length

(

float

length

)

Scales the vector such that it has the given length.

Parameters:

length

the new length

Returns:

reference to a vector with given length

Definition at line 99 of file hom_vector.cpp.

References length(), fawkes::HomCoord::x(), fawkes::HomCoord::y(), and fawkes::HomCoord::z().

Referenced by fawkes::HomPolar::r(), and unit().

HomVector & fawkes::HomVector::unit

(

)

Brings the vector to unit-length.

Returns:

a reference to itself

Definition at line 87 of file hom_vector.cpp.

References set_length().

Referenced by fawkes::HomPose2d::HomPose2d().

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

• src/libs/geometry/hom_vector.h
• src/libs/geometry/hom_vector.cpp