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The RMP Motion Controller APIs
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The RMP Motion Controller APIs
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Vector3d is used for three-dimensional points and vectors. More...
Functions | |
| Vector3d () | |
| Default constructor. X=Y=Z=0. | |
| Vector3d (const Vector3d &rightHandSide) | |
| Constructor. X=rightHandSide.X, Y=rightHandSide.Y, Z=rightHandSide.Z. | |
| Vector3d (double x, double y, double z) | |
| Constructor. X=x, Y=y, Z=z. | |
| Vector3d | Cross (const Vector3d &rightHandSide) const |
| Cross Product. Vector.X = this.Y*rightHandSide.z - this.Z*rightHandSide.Y Vector.Y = this.Z*rightHandSide.X - this.X*rightHandSide.Z Vector.Z = this.X*rightHandSide.Y - this.Y*rightHandSide.X. | |
| double | Dot (const Vector3d &rightHandSide) const |
| Dot Product. this.X*rightHandSide.X + this.Y*rightHandSide.Y + this.Z*rightHandSide.Z. | |
| bool | Equals (const Vector3d &rightHandSide, const double tolerance) const |
| Checks whether this.X==rightHandSide.X && this.Y==rightHandSide.Y && this.Z==rightHandSide.Z within tolerance abs(a-b) < tolerance. | |
| Vector3d | Inverse () const |
| Returns an inverted copy of this. this * this.inverse() = I. | |
| double | Length () const |
| Returns the length of the vector. Aka the magnitude =sqrt(SumSquares) | |
| Vector3d | Normal () const |
| Returns a normalized copy of this. | |
| Vector3d & | Normalize () |
| Normalizes this. | |
| bool | operator!= (const Vector3d &rightHandSide) const |
| Returns whether this is not exactly equal to rightHandSide. | |
| Vector3d | operator* (double scalar) const |
| Returns a Vector3d scaled scaled by. X*scalar, Y*scalar, Z*scalar. | |
| Vector3d & | operator*= (double scalar) |
| Scales each element by scalar. X*=scalar, Y*=scalar, Z*=scalar. | |
| Vector3d | operator+ (const Vector3d &rightHandSide) const |
| Returns a copy of rightHandSide added to this. this.X+rightHandSide.X, this.Y+rightHandSide.Y, this.Z+rightHandSide.Z. | |
| Vector3d & | operator+= (const Vector3d &rightHandSide) |
| Adds rightHandSide to this. this.X+=rightHandSide.X, this.Y+=rightHandSide.Y, this.Z+=rightHandSide.Z. | |
| Vector3d | operator- () const |
| Returns a copy of this with elements negated. -X, -Y, -Z. | |
| Vector3d | operator- (const Vector3d &rightHandSide) const |
| Returns a copy of rightHandSide subtracted from this. this.X-rightHandSide.X, this.Y-rightHandSide.Y, this.Z-rightHandSide.Z. | |
| Vector3d & | operator-= (const Vector3d &rightHandSide) |
| Subtracts rightHandSide from this. this.X-=rightHandSide.X, this.Y-=rightHandSide.Y, this.Z-=rightHandSide.Z. | |
| Vector3d | operator/ (double scalar) const |
| Returns a Vector3d scaled scaled by. X/scalar, Y/scalar, Z/scalar. | |
| Vector3d & | operator/= (double scalar) |
| Scales each element by scalar. X/=scalar, Y/=scalar, Z/=scalar. | |
| Vector3d & | operator= (const Vector3d &rightHandSide) |
| Sets this = rightHandSide. | |
| bool | operator== (const Vector3d &rightHandSide) const |
| Returns whether this is exactly equal to rightHandSide. | |
| Vector3d & | Set (const Vector3d &rightHandSide) |
| Sets X=rightHandSide.X, Y=rightHandSide.Y, Z=rightHandSide.Z. | |
| Vector3d & | Set (double x, double y, double z) |
| Sets X=x, Y=y, Z=z. | |
| double | SumSquares () const |
| Returns the sum of squares. X*X+Y*Y+Z*Z. | |
Attributes | |
| double | X |
| The X coordinate. | |
| double | Y |
| The Y coordinate. | |
| double | Z |
| The Z coordinate. | |
Definition at line 272 of file cartesianrobot.h.
1.10.0