RMP Motion Controller 10.3.9 The RMP Motion Controller APIs
Vector3d

Vector3d is used for three-dimensional points and vectors. More...

Attributes

double X
The X coordinate.

double Y
The Y coordinate.

double Z
The Z coordinate.

Functions

Vector3d ()
Default constructor. X=Y=Z=0.

Vector3d (const Vector3d &rhs)
Constructor. X=rhs.X, Y=rhs.Y, Z=rhs.Z.

Vector3d (double x, double y, double z)
Constructor. X=x, Y=y, Z=z.

Vector3d Cross (const Vector3d &rhs) const
Cross Product. Vector.X = this.Y*rhs.z - this.Z*rhs.Y Vector.Y = this.Z*rhs.X - this.X*rhs.Z Vector.Z = this.X*rhs.Y - this.Y*rhs.X.

double Dot (const Vector3d &rhs) const
Dot Product. this.X*rhs.X + this.Y*rhs.Y + this.Z*rhs.Z.

bool Equals (const Vector3d &rhs, const double tolerance) const
Checks whether this.X==rhs.X && this.Y==rhs.Y && this.Z==rhs.Z within tolerance abs(a-b) < tolerance.

double Length () const
Returns the length of the vector. Aka the magnitude =sqrt(SumSquares)

Vector3d Normal () const
Returns a normalized copy of this.

Vector3dNormalize ()
Normalizes this.

bool operator!= (const Vector3d &rhs) const
Returns whether this is not exactly equal to rhs.

Vector3d operator* (double scalar) const
Returns a Vector3d scaled scaled by. X*scalar, Y*scalar, Z*scalar.

Vector3doperator*= (double scalar)
Scales each element by scalar. X*=scalar, Y*=scalar, Z*=scalar.

Vector3d operator+ (const Vector3d &rhs) const
Returns a copy of rhs added to this. this.X+rhs.X, this.Y+rhs.Y, this.Z+rhs.Z.

Vector3doperator+= (const Vector3d &rhs)
Adds rhs to this. this.X+=rhs.X, this.Y+=rhs.Y, this.Z+=rhs.Z.

Vector3d operator- () const
Returns a copy of this with elements negated. -X, -Y, -Z.

Vector3d operator- (const Vector3d &rhs) const
Returns a copy of rhs subtracted from this. this.X-rhs.X, this.Y-rhs.Y, this.Z-rhs.Z.

Vector3doperator-= (const Vector3d &rhs)
Subtracts rhs from this. this.X-=rhs.X, this.Y-=rhs.Y, this.Z-=rhs.Z.

Vector3d operator/ (double scalar) const
Returns a Vector3d scaled scaled by. X/scalar, Y/scalar, Z/scalar.

Vector3doperator/= (double scalar)
Scales each element by scalar. X/=scalar, Y/=scalar, Z/=scalar.

Vector3doperator= (const Vector3d &rhs)
Sets this = rhs.

bool operator== (const Vector3d &rhs) const
Returns whether this is exactly equal to rhs.

Vector3dSet (const Vector3d &rhs)
Sets X=rhs.X, Y=rhs.Y, Z=rhs.Z.

Vector3dSet (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.

Description

Definition at line 101 of file cartesianrobot.h.