## Class Vector3D

• java.lang.Object
• org.robwork.sdurw_math.Vector3D

• public class Vector3D
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 Vector3D<> v1(1.0, 2.0, 3.0); const Vector3D<> v2(6.0, 7.0, 8.0); const Vector3D<> v3 = cross(v1, v2); const double d = dot(v1, v2); const Vector3D<> v4 = v2 - v1; 
• ### Constructor Summary

Constructors
Constructor Description
Vector3D()
Creates a 3D vector initialized with 0's
Vector3D​(double x, double y, double z)
Creates a 3D vector
Vector3D​(long cPtr, boolean cMemoryOwn)
Vector3D​(vector_d vec)
construct vector from std::vector
Vector3D​(Vector3D copy_vec)
Copy constructor
• ### Method Summary

All Methods
Modifier and Type Method Description
EAA add​(EAA rhs)
Vector3D add​(Vector3D b)
Vector3D addAssign​(Vector3D v)
Vector3D cross​(Vector3D vec)
Calculate cross product
void delete()
Vector3D devideAssign​(double s)
Scalar division.
Vector3D divide​(double s)
Scalar division.
double dot​(Vector3D vec)
calculate the dot product
EigenVector3d e()
Returns Reference to Eigen Vector
Vector3D elemAdd​(double rhs)
Vector3D elemDivide​(Vector3D rhs)
element wise division.
Vector3D elemMultiply​(Vector3D rhs)
Elementweise multiplication.
Vector3D elemSubtract​(double rhs)
Scalar subtraction.
boolean equals​(EAA rhs)
boolean equals​(Vector3D b)
Compare with b for equality.
double get​(long i)
static long getCPtr​(Vector3D obj)
Vector3D multiply​(double rhs)
Scalar multiplication.
VelocityScrew6D multiply​(VelocityScrew6D rhs)
Wrench6D multiply​(Wrench6D rhs)
Vector3D multiplyAssign​(double s)
Scalar multiplication.
Vector3D negate()
Unary minus.
negative version
double norm1()
Returns the Manhatten norm (1-norm) of the vector
double norm2()
Returns the Euclidean norm (2-norm) of the vector
Vector3D normalize()
normalize vector to get length 1
double normInf()
Returns the infinte norm ( \inf-norm) of the vector
boolean notEqual​(EAA rhs)
boolean notEqual​(Vector3D b)
Compare with b for inequality.
void set​(long i, double d)
long size()
The dimension of the vector (i.e.
EAA subtract​(EAA rhs)
Vector3D subtract​(Vector3D b)
Vector subtraction.
Vector3D subtractAssign​(Vector3D v)
Vector subtraction.
java.lang.String toString()
static Vector3D x()
Get x vector (1,0,0)
static Vector3D y()
Get y vector (0,1,0)
static Vector3D z()
Get z vector (0,0,1)
static Vector3D zero()
Get zero vector.
• ### Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
• ### Constructor Detail

• #### Vector3D

public Vector3D​(long cPtr,
boolean cMemoryOwn)
• #### Vector3D

public Vector3D()
Creates a 3D vector initialized with 0's
• #### Vector3D

public Vector3D​(double x,
double y,
double z)
Creates a 3D vector
Parameters:
x - [in] x
y - [in] y
z - [in] z
• #### Vector3D

public Vector3D​(Vector3D copy_vec)
Copy constructor
Parameters:
copy_vec - [in] vector to copy
• #### Vector3D

public Vector3D​(vector_d vec)
construct vector from std::vector
Parameters:
vec - [in] the vector to construct from
• ### Method Detail

• #### getCPtr

public static long getCPtr​(Vector3D obj)
• #### delete

public void delete()
• #### 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[].
Returns:
the size
• #### zero

public static Vector3D zero()
Get zero vector.
Returns:
vector.
• #### x

public static Vector3D x()
Get x vector (1,0,0)
Returns:
vector.
• #### y

public static Vector3D y()
Get y vector (0,1,0)
Returns:
vector.
• #### z

public static Vector3D z()
Get z vector (0,0,1)
Returns:
vector.
• #### elemDivide

public Vector3D elemDivide​(Vector3D rhs)
element wise division.
Parameters:
rhs - [in] the vector being devided with
Returns:
the resulting Vector3D
• #### elemMultiply

public Vector3D elemMultiply​(Vector3D rhs)
Elementweise multiplication.
Parameters:
rhs - [in] vector
Returns:
the element wise product
• #### subtract

public Vector3D subtract​(Vector3D b)
Vector subtraction.

public Vector3D add​(Vector3D b)
• #### negate

public Vector3D negate()
Unary minus.
negative version
• #### divide

public Vector3D divide​(double s)
Scalar division.
Parameters:
s - [in] the scalar to devide with
Returns:
result of devision
• #### multiply

public Vector3D multiply​(double rhs)
Scalar multiplication.
Parameters:
rhs - [in] the scalar to multiply with
Returns:
the product
• #### elemSubtract

public Vector3D elemSubtract​(double rhs)
Scalar subtraction.

public Vector3D elemAdd​(double rhs)
• #### 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
• #### cross

public Vector3D cross​(Vector3D vec)
Calculate cross product
Parameters:
vec - [in] the vector to cross with
Returns:
the cross product
• #### dot

public double dot​(Vector3D vec)
calculate the dot product
Parameters:
vec - [in] the vecor to be dotted
Returns:
the dot product
• #### normalize

public Vector3D normalize()
normalize vector to get length 1
Returns:
the normalized Vector
• #### e

public EigenVector3d e()
Returns Reference to Eigen Vector
Returns:
reference to underling eigen
• #### get

public double get​(long i)
• #### set

public void set​(long i,
double d)
• #### toString

public java.lang.String toString()
Overrides:
toString in class java.lang.Object
• #### multiplyAssign

public Vector3D multiplyAssign​(double s)
Scalar multiplication.
• #### devideAssign

public Vector3D devideAssign​(double s)
Scalar division.

public Vector3D addAssign​(Vector3D v)
• #### subtractAssign

public Vector3D subtractAssign​(Vector3D v)
Vector subtraction.
• #### equals

public boolean equals​(Vector3D b)
Compare with b for equality.
Parameters:
b - [in] other vector.
Returns:
True if a equals b, false otherwise.
• #### notEqual

public boolean notEqual​(Vector3D b)
Compare with b for inequality.
Parameters:
b - [in] other vector.
Returns:
True if a and b are different, false otherwise.

public EAA add​(EAA rhs)
• #### subtract

public EAA subtract​(EAA rhs)
• #### equals

public boolean equals​(EAA rhs)
• #### notEqual

public boolean notEqual​(EAA rhs)
• #### multiply

public Wrench6D multiply​(Wrench6D rhs)
• #### multiply

public VelocityScrew6D multiply​(VelocityScrew6D rhs)