octomath::Vector3 Class Reference

This class represents a three-dimensional vector. More...

#include <Vector3.h>

Public Member Functions
double	angleTo (const Vector3 &other) const
Vector3	cross (const Vector3 &other) const
	Three-dimensional vector (cross) product.
double	distance (const Vector3 &other) const
double	distanceXY (const Vector3 &other) const
double	dot (const Vector3 &other) const
	dot product
double	norm () const
double	norm_sq () const
Vector3 &	normalize ()
	normalizes this vector, so that it has norm=1.0
Vector3	normalized () const
float &	operator() (unsigned int i)
const float &	operator() (unsigned int i) const
Vector3	operator* (float x) const
void	operator*= (float x)
Vector3	operator+ (const Vector3 &other) const
void	operator+= (const Vector3 &other)
Vector3	operator- () const
Vector3	operator- (const Vector3 &other) const
void	operator-= (const Vector3 &other)
void	operator/= (float x)
Vector3 &	operator= (const Vector3 &other)
	Assignment operator.
bool	operator== (const Vector3 &other) const
float &	pitch ()
const float &	pitch () const
std::istream &	read (std::istream &s)
std::istream &	readBinary (std::istream &s)
float &	roll ()
const float &	roll () const
Vector3 &	rotate_IP (double roll, double pitch, double yaw)
	Vector3 ()
	Default constructor.
	Vector3 (const Vector3 &other)
	Copy constructor.
	Vector3 (float x, float y, float z)
	Constructor.
std::ostream &	write (std::ostream &s) const
std::ostream &	writeBinary (std::ostream &s) const
float &	x ()
const float &	x () const
float &	y ()
const float &	y () const
float &	yaw ()
const float &	yaw () const
float &	z ()
const float &	z () const

Protected Attributes
float	data [3]

Detailed Description

This class represents a three-dimensional vector.

The three-dimensional vector can be used to represent a translation in three-dimensional space or to represent the attitude of an object using Euler angle.

Constructor & Destructor Documentation

Vector3() [1/3]

octomath::Vector3::Vector3 ( )

inline

Default constructor.

References data.

Referenced by angleTo(), cross(), distance(), distanceXY(), dot(), normalize(), normalized(), operator*(), operator+(), operator+=(), operator-(), operator-(), operator-=(), operator=(), operator==(), rotate_IP(), and Vector3().

Vector3() [2/3]

octomath::Vector3::Vector3 ( const Vector3 & other )

inline

Copy constructor.

Parameters

other

a vector of dimension 3

References data, and Vector3().

Vector3() [3/3]

octomath::Vector3::Vector3 ( float x, float y, float z )

inline

Constructor.

Constructs a three-dimensional vector from three single values x, y, z or roll, pitch, yaw

References data, x(), y(), and z().

Member Function Documentation

angleTo()

double octomath::Vector3::angleTo ( const Vector3 & other ) const

inline

References dot(), norm(), and Vector3().

cross()

Vector3 octomath::Vector3::cross ( const Vector3 & other ) const

inline

Three-dimensional vector (cross) product.

Calculates the tree-dimensional cross product, which represents the vector orthogonal to the plane defined by this and other.

Returns

this x other

References Vector3(), x(), y(), and z().

Referenced by octomap::OccupancyOcTreeBase< NODE >::getNormals().

distance()

double octomath::Vector3::distance ( const Vector3 & other ) const

inline

References Vector3(), x(), y(), and z().

Referenced by octomap::MapCollection< MAPNODE >::castRay().

distanceXY()

double octomath::Vector3::distanceXY ( const Vector3 & other ) const

inline

References Vector3(), x(), and y().

dot()

double octomath::Vector3::dot ( const Vector3 & other ) const

inline

dot product

References Vector3(), x(), y(), and z().

Referenced by angleTo(), and octomap::OccupancyOcTreeBase< NODE >::getRayIntersection().

norm()

double octomath::Vector3::norm ( ) const

inline

Returns

length of the vector ("L2 norm")

References norm_sq().

Referenced by angleTo(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::computeRayKeys(), and normalize().

norm_sq()

double octomath::Vector3::norm_sq ( ) const

inline

Returns

squared length ("L2 norm") of the vector

References x(), y(), and z().

Referenced by norm().

normalize()

Vector3 & octomath::Vector3::normalize ( )

inline

normalizes this vector, so that it has norm=1.0

References norm(), and Vector3().

Referenced by octomap::OccupancyOcTreeBase< NODE >::getNormals(), and normalized().

normalized()

Vector3 octomath::Vector3::normalized ( ) const

inline

Returns

normalized vector, this one remains unchanged

References normalize(), and Vector3().

Referenced by octomap::OccupancyOcTreeBase< NODE >::castRay().

operator()() [1/2]

float & octomath::Vector3::operator() ( unsigned int i )

inline

References data.

operator()() [2/2]

const float & octomath::Vector3::operator() ( unsigned int i ) const

inline

References data.

Referenced by pitch(), pitch(), readBinary(), roll(), roll(), writeBinary(), x(), x(), y(), y(), yaw(), yaw(), z(), and z().

operator*()

Vector3 octomath::Vector3::operator* ( float x ) const

inline

References Vector3(), and x().

operator*=()

void octomath::Vector3::operator*= ( float x )

inline

References data, and x().

operator+()

Vector3 octomath::Vector3::operator+ ( const Vector3 & other ) const

inline

References Vector3().

operator+=()

void octomath::Vector3::operator+= ( const Vector3 & other )

inline

References data, and Vector3().

operator-() [1/2]

Vector3 octomath::Vector3::operator- ( ) const

inline

References data, and Vector3().

operator-() [2/2]

Vector3 octomath::Vector3::operator- ( const Vector3 & other ) const

inline

References Vector3().

operator-=()

void octomath::Vector3::operator-= ( const Vector3 & other )

inline

References data, and Vector3().

operator/=()

void octomath::Vector3::operator/= ( float x )

inline

References data, and x().

operator=()

Vector3 & octomath::Vector3::operator= ( const Vector3 & other )

inline

Assignment operator.

Parameters

other

a vector of dimension 3

References data, and Vector3().

operator==()

bool octomath::Vector3::operator== ( const Vector3 & other ) const

inline

References Vector3().

pitch() [1/2]

float & octomath::Vector3::pitch ( )

inline

References operator()().

Referenced by octomath::Quaternion::Quaternion(), and rotate_IP().

pitch() [2/2]

const float & octomath::Vector3::pitch ( ) const

inline

References operator()().

read()

std::istream & octomath::Vector3::read

(

std::istream &

s

)

Referenced by octomap::ScanNode::readPoseASCII().

readBinary()

std::istream & octomath::Vector3::readBinary

(

std::istream &

s

)

References operator()().

Referenced by octomap::Pointcloud::readBinary().

roll() [1/2]

float & octomath::Vector3::roll ( )

inline

References operator()().

Referenced by octomath::Quaternion::Quaternion(), and rotate_IP().

roll() [2/2]

const float & octomath::Vector3::roll ( ) const

inline

References operator()().

rotate_IP()

Vector3 & octomath::Vector3::rotate_IP	(	double	roll,
		double	pitch,
		double	yaw )

References pitch(), roll(), Vector3(), x(), y(), yaw(), and z().

Referenced by generateSphereTree(), main(), and main().

write()

std::ostream & octomath::Vector3::write

(

std::ostream &

s

)

const

writeBinary()

std::ostream & octomath::Vector3::writeBinary

(

std::ostream &

s

)

const

References operator()().

x() [1/2]

float & octomath::Vector3::x ( )

inline

References operator()().

Referenced by octomap::MapCollection< MAPNODE >::castRay(), comparePoint(), cross(), distance(), distanceXY(), dot(), generateSphereTree(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::getUnknownLeafCenters(), octomap::OccupancyOcTreeBase< NODE >::inBBX(), main(), main(), main(), norm_sq(), operator*(), operator*=(), operator/=(), octomath::operator<<(), octomath::Quaternion::Quaternion(), rotate_IP(), and Vector3().

x() [2/2]

const float & octomath::Vector3::x ( ) const

inline

References operator()().

y() [1/2]

float & octomath::Vector3::y ( )

inline

References operator()().

Referenced by octomap::MapCollection< MAPNODE >::castRay(), comparePoint(), cross(), distance(), distanceXY(), dot(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::getUnknownLeafCenters(), octomap::OccupancyOcTreeBase< NODE >::inBBX(), main(), main(), main(), norm_sq(), octomath::operator<<(), octomath::Quaternion::Quaternion(), rotate_IP(), and Vector3().

y() [2/2]

const float & octomath::Vector3::y ( ) const

inline

References operator()().

yaw() [1/2]

float & octomath::Vector3::yaw ( )

inline

References operator()().

Referenced by octomath::Quaternion::Quaternion(), and rotate_IP().

yaw() [2/2]

const float & octomath::Vector3::yaw ( ) const

inline

References operator()().

z() [1/2]

float & octomath::Vector3::z ( )

inline

References operator()().

Referenced by octomap::MapCollection< MAPNODE >::castRay(), comparePoint(), cross(), distance(), dot(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::getUnknownLeafCenters(), octomap::OccupancyOcTreeBase< NODE >::inBBX(), main(), main(), main(), norm_sq(), octomath::operator<<(), octomath::Quaternion::Quaternion(), rotate_IP(), and Vector3().

z() [2/2]

const float & octomath::Vector3::z ( ) const

inline

References operator()().

Field Documentation

data

float octomath::Vector3::data[3]

protected

Referenced by operator()(), operator()(), operator*=(), operator+=(), operator-(), operator-=(), operator/=(), operator=(), Vector3(), Vector3(), and Vector3().

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

• include/octomap/math/Vector3.h
• src/math/Vector3.cpp