Package org.robwork.sdurw

Class Vector3Dd

java.lang.Object

org.robwork.sdurw.Vector3Dd

public class Vector3Dd
extends java.lang.Object

A 3D vector \mathbf{v}\in \mathbb{R}^3

\robabx{i}{j}{\mathbf{v}} = \left[ \begin{array}{c} v_x \\ v_y \\ v_z \end{array} \right]

Usage example:

const Vector3Ddouble v1(1.0, 2.0, 3.0); const Vector3Ddouble v2(6.0, 7.0, 8.0); const Vector3Ddouble v3 = cross(v1, v2); const double d = dot(v1, v2); const Vector3Ddouble v4 = v2 - v1;

Constructor Summary

Constructors

Constructor	Description
Vector3Dd()	Creates a 3D vector initialized with 0's
Vector3Dd(double x, double y, double z)	Creates a 3D vector
Vector3Dd(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
Vector3Dd	add(Vector3Dd other)	Vector addition.
void	delete()
Vector3Dd	divide(double s)	Scalar division.
EigenVector3d	e()	Returns Eigen vector with the values of *this
boolean	equals(Vector3Dd q)	Compare with b for equality.
double	get(long i)
static long	getCPtr(Vector3Dd obj)
Vector3Dd	multiply(double scale)	Scalar multiplication.
Vector3Dd	negate()	Unary minus.
double	norm1()	Returns the Manhatten norm (1-norm) of the vector
double	norm2()	Returns the Euclidean norm (2-norm) of the vector
double	normInf()	Returns the infinte norm ( \inf -norm) of the vector
void	set(long i, double d)
long	size()	The dimension of the vector (i.e.
Vector3Dd	subtract(Vector3Dd other)	Vector subtraction.
java.lang.String	toString()
static Vector3Dd	x()	Get x vector (1,0,0)
static Vector3Dd	y()	Get y vector (0,1,0)
static Vector3Dd	z()	Get z vector (0,0,1)
static Vector3Dd	zero()	Get zero vector.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

Vector3Dd

public Vector3Dd(long cPtr,
                 boolean cMemoryOwn)

Vector3Dd

public Vector3Dd()

Creates a 3D vector initialized with 0's

Vector3Dd

public Vector3Dd(double x,
                 double y,
                 double z)

Creates a 3D vector

Parameters:

x - [in] x

y - [in] y

z - [in] z

Method Detail

getCPtr

public static long getCPtr(Vector3Dd obj)

delete

public void delete()

e

public EigenVector3d e()

Returns Eigen vector with the values of *this

size

public long size()

The dimension of the vector (i.e. 3).
This method is provided to help support generic algorithms using
size() and operator[].

divide

public Vector3Dd divide(double s)

Scalar division.

multiply

public Vector3Dd multiply(double scale)

Scalar multiplication.

add

public Vector3Dd add(Vector3Dd other)

Vector addition.

subtract

public Vector3Dd subtract(Vector3Dd other)

Vector subtraction.

negate

public Vector3Dd negate()

Unary minus.

equals

public boolean equals(Vector3Dd q)

Compare with b for equality.

Returns:

True if a equals b, false otherwise.

norm2

public double norm2()

Returns the Euclidean norm (2-norm) of the vector

Returns:

the norm

norm1

public double norm1()

Returns the Manhatten norm (1-norm) of the vector

Returns:

the norm

normInf

public double normInf()

Returns the infinte norm ( \inf -norm) of the vector

Returns:

the norm

zero

public static Vector3Dd zero()

Get zero vector.

Returns:

vector.

x

public static Vector3Dd x()

Get x vector (1,0,0)

Returns:

vector.

y

public static Vector3Dd y()

Get y vector (0,1,0)

Returns:

vector.

z

public static Vector3Dd z()

Get z vector (0,0,1)

Returns:

vector.

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

get

public double get(long i)

set

public void set(long i,
                double d)