Package org.robwork.sdurw
Class Q
- java.lang.Object
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- org.robwork.sdurw.Q
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public class Q extends java.lang.Object
Configuration vector
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Constructor Summary
Constructors Constructor Description Q()
Default constructor.
The vector will be of dimension zero.Q(int n, double a0)
Creates a Q of length n and initialize all values in Q to value
Q(int n, double a0, double a1)
Creates a Q of length n and initialize all values in Q to the values specified after n
The number of arguments after n must match the number n.
Q(int n, double a0, double a1, double a2)
Creates a Q of length n and initialize all values in Q to the values specified after n
The number of arguments after n must match the number n.
Q(int n, double a0, double a1, double a2, double a3)
Creates a Q of length n and initialize all values in Q to the values specified after n
The number of arguments after n must match the number n.
Q(int n, double a0, double a1, double a2, double a3, double a4)
Creates a Q of length n and initialize all values in Q to the values specified after n
The number of arguments after n must match the number n.
Q(int n, double a0, double a1, double a2, double a3, double a4, double a5)
Creates a Q of length n and initialize all values in Q to the values specified after n
The number of arguments after n must match the number n.
Q(int n, double a0, double a1, double a2, double a3, double a4, double a5, double a6)
Creates a Q of length n and initialize all values in Q to the values specified after n
The number of arguments after n must match the number n.
Q(int n, double a0, double a1, double a2, double a3, double a4, double a5, double a6, double a7)
Creates a Q of length n and initialize all values in Q to the values specified after n
The number of arguments after n must match the number n.
Q(int n, double a0, double a1, double a2, double a3, double a4, double a5, double a6, double a7, double a8)
Creates a Q of length n and initialize all values in Q to the values specified after n
The number of arguments after n must match the number n.
Q(int n, double a0, double a1, double a2, double a3, double a4, double a5, double a6, double a7, double a8, double a9)
Creates a Q of length n and initialize all values in Q to the values specified after n
The number of arguments after n must match the number n.
Q(long dim)
A configuration of vector of length dim.Q(long cPtr, boolean cMemoryOwn)
Q(long n, double[] values)
Creates a Q of length n and initialized with values from values
The method reads n values from values and do not check whether reading out of bounds.
Q(VectorDouble r)
Construct a configuration vector from a std::vector
expression.
Q(EigenVectorXd q)
Construct from Eigen base.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Q
add(Q b)
Vector addition.void
delete()
Q
divide(double s)
Scalar division.EigenVectorXd
e()
Accessor for the internal Eigen vector state.boolean
empty()
True if the configuration is of dimension zero.double
get(long i)
static long
getCPtr(Q obj)
Q
getSubPart(long start, long cnt)
Extracts a sub part (range) of this Q.boolean
leessThan(Q q)
Compares whether this is less than q
The less operator is defined such that the first index is the most significant.Q
multiply(double s)
Scalar multiplication.Q
negate()
double
norm1()
Returns the Manhatten norm (1-norm) of the configurationdouble
norm2()
Returns the Euclidean norm (2-norm) of the configurationdouble
normInf()
Returns the infinte norm ( \inf -norm) of the configurationvoid
set(long i, double d)
void
setSubPart(long index, Q part)
Set subpart of vector.int
size()
The dimension of the configuration vector.Q
subtract(Q b)
Vector subtraction.VectorDouble
toStdVector()
Convert to a standard vector.void
toStdVector(VectorDouble v)
Convert to a standard vector.java.lang.String
toString()
static Q
zero(long n)
Returns Q of length n initialized with 0's
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Constructor Detail
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Q
public Q(long cPtr, boolean cMemoryOwn)
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Q
public Q(long dim)
A configuration of vector of length dim.
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Q
public Q()
Default constructor.
The vector will be of dimension zero.
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Q
public Q(long n, double[] values)
Creates a Q of length n and initialized with values from values
The method reads n values from values and do not check whether reading out of bounds.
- Parameters:
n
- [in] Length of q.values
- [in] Array of values to initialize with
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Q
public Q(int n, double a0)
Creates a Q of length n and initialize all values in Q to value
- Parameters:
n
- [in] Length of q.
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Q
public Q(int n, double a0, double a1)
Creates a Q of length n and initialize all values in Q to the values specified after n
The number of arguments after n must match the number n.
- Parameters:
n
- [in] Length of q.a0
- [in] Value to initialize q(0)a1
- [in] Value to initialize q(1)
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Q
public Q(int n, double a0, double a1, double a2)
Creates a Q of length n and initialize all values in Q to the values specified after n
The number of arguments after n must match the number n.
- Parameters:
n
- [in] Length of q.a0
- [in] Value to initialize q(0)a1
- [in] Value to initialize q(1)a2
- [in] Values to initialize q(2)
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Q
public Q(int n, double a0, double a1, double a2, double a3)
Creates a Q of length n and initialize all values in Q to the values specified after n
The number of arguments after n must match the number n.
- Parameters:
n
- [in] Length of q.a0
- [in] Value to initialize q(0)a1
- [in] Value to initialize q(1)a2
- [in] Values to initialize q(2)a3
- [in] Values to initialize q(3)
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Q
public Q(int n, double a0, double a1, double a2, double a3, double a4)
Creates a Q of length n and initialize all values in Q to the values specified after n
The number of arguments after n must match the number n.
- Parameters:
n
- [in] Length of q.a0
- [in] Value to initialize q(0)a1
- [in] Value to initialize q(1)a2
- [in] Values to initialize q(2)a3
- [in] Values to initialize q(3)a4
- [in] Values to initialize q(4)
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Q
public Q(int n, double a0, double a1, double a2, double a3, double a4, double a5)
Creates a Q of length n and initialize all values in Q to the values specified after n
The number of arguments after n must match the number n.
- Parameters:
n
- [in] Length of q.a0
- [in] Value to initialize q(0)a1
- [in] Value to initialize q(1)a2
- [in] Values to initialize q(2)a3
- [in] Values to initialize q(3)a4
- [in] Values to initialize q(4)a5
- [in] Values to initialize q(5)
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Q
public Q(int n, double a0, double a1, double a2, double a3, double a4, double a5, double a6)
Creates a Q of length n and initialize all values in Q to the values specified after n
The number of arguments after n must match the number n.
- Parameters:
n
- [in] Length of q.a0
- [in] Value to initialize q(0)a1
- [in] Value to initialize q(1)a2
- [in] Values to initialize q(2)a3
- [in] Values to initialize q(3)a4
- [in] Values to initialize q(4)a5
- [in] Values to initialize q(5)a6
- [in] Values to initialize q(6)
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Q
public Q(int n, double a0, double a1, double a2, double a3, double a4, double a5, double a6, double a7)
Creates a Q of length n and initialize all values in Q to the values specified after n
The number of arguments after n must match the number n.
- Parameters:
n
- [in] Length of q.a0
- [in] Value to initialize q(0)a1
- [in] Value to initialize q(1)a2
- [in] Values to initialize q(2)a3
- [in] Values to initialize q(3)a4
- [in] Values to initialize q(4)a5
- [in] Values to initialize q(5)a6
- [in] Values to initialize q(6)a7
- [in] Values to initialize q(7)
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Q
public Q(int n, double a0, double a1, double a2, double a3, double a4, double a5, double a6, double a7, double a8)
Creates a Q of length n and initialize all values in Q to the values specified after n
The number of arguments after n must match the number n.
- Parameters:
n
- [in] Length of q.a0
- [in] Value to initialize q(0)a1
- [in] Value to initialize q(1)a2
- [in] Values to initialize q(2)a3
- [in] Values to initialize q(3)a4
- [in] Values to initialize q(4)a5
- [in] Values to initialize q(5)a6
- [in] Values to initialize q(6)a7
- [in] Values to initialize q(7)a8
- [in] Values to initialize q(8)
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Q
public Q(int n, double a0, double a1, double a2, double a3, double a4, double a5, double a6, double a7, double a8, double a9)
Creates a Q of length n and initialize all values in Q to the values specified after n
The number of arguments after n must match the number n.
- Parameters:
n
- [in] Length of q.a0
- [in] Value to initialize q(0)a1
- [in] Value to initialize q(1)a2
- [in] Values to initialize q(2)a3
- [in] Values to initialize q(3)a4
- [in] Values to initialize q(4)a5
- [in] Values to initialize q(5)a6
- [in] Values to initialize q(6)a7
- [in] Values to initialize q(7)a8
- [in] Values to initialize q(8)a9
- [in] Values to initialize q(9)
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Q
public Q(VectorDouble r)
Construct a configuration vector from a std::vector
expression.
- Parameters:
r
- [in] An expression for a vector of doubles
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Q
public Q(EigenVectorXd q)
Construct from Eigen base.- Parameters:
q
- [in] Eigen base.
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Method Detail
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getCPtr
public static long getCPtr(Q obj)
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delete
public void delete()
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zero
public static Q zero(long n)
Returns Q of length n initialized with 0's
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size
public int size()
The dimension of the configuration vector.
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empty
public boolean empty()
True if the configuration is of dimension zero.
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e
public EigenVectorXd e()
Accessor for the internal Eigen vector state.
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getSubPart
public Q getSubPart(long start, long cnt)
Extracts a sub part (range) of this Q.- Parameters:
start
- [in] Start indexcnt
- [in] the number of elements to include- Returns:
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setSubPart
public void setSubPart(long index, Q part)
Set subpart of vector.- Parameters:
index
- [in] the initial index.part
- [in] the part to insert beginning from index.
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norm2
public double norm2()
Returns the Euclidean norm (2-norm) of the configuration- Returns:
- the norm
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norm1
public double norm1()
Returns the Manhatten norm (1-norm) of the configuration- Returns:
- the norm
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normInf
public double normInf()
Returns the infinte norm ( \inf -norm) of the configuration- Returns:
- the norm
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negate
public Q negate()
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multiply
public Q multiply(double s)
Scalar multiplication.
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divide
public Q divide(double s)
Scalar division.
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leessThan
public boolean leessThan(Q q)
Compares whether this is less than q
The less operator is defined such that the first index is the most significant. That is
if (*this)[0] < q[0] then true is returned. If (*this)[0] > q[0] false is returned and
only if (*this)[0] == q[0] is the next index considered.
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toStdVector
public void toStdVector(VectorDouble v)
Convert to a standard vector.- Parameters:
v
- [out] the result.
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toStdVector
public VectorDouble toStdVector()
Convert to a standard vector.- Returns:
- the result.
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toString
public java.lang.String toString()
- Overrides:
toString
in classjava.lang.Object
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get
public double get(long i)
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set
public void set(long i, double d)
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