## Class Vector3Df

• java.lang.Object
• org.robwork.sdurw_math.Vector3Df

• public class Vector3Df
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
Vector3Df()
Creates a 3D vector initialized with 0's
Vector3Df​(float x, float y, float z)
Creates a 3D vector
Vector3Df​(long cPtr, boolean cMemoryOwn)
Vector3Df​(vector_f vec)
construct vector from std::vector
Vector3Df​(Vector3Df copy_vec)
Copy constructor
• ### Method Summary

All Methods
Modifier and Type Method Description
EAAf add​(EAAf rhs)
Vector3Df add​(Vector3Df b)
Vector addition.
Vector3Df addAssign​(Vector3Df v)
Vector addition.
Vector3Df cross​(Vector3Df vec)
Calculate cross product
void delete()
Vector3Df devideAssign​(float s)
Scalar division.
Vector3Df divide​(float s)
Scalar division.
float dot​(Vector3Df vec)
calculate the dot product
EigenVector3f e()
Returns Reference to Eigen Vector
Vector3Df elemAdd​(float rhs)
Scalar addition.
Vector3Df elemDivide​(Vector3Df rhs)
element wise division.
Vector3Df elemMultiply​(Vector3Df rhs)
Elementweise multiplication.
Vector3Df elemSubtract​(float rhs)
Scalar subtraction.
boolean equals​(EAAf rhs)
boolean equals​(Vector3Df b)
Compare with b for equality.
float get​(long i)
static long getCPtr​(Vector3Df obj)
Vector3Df multiply​(float rhs)
Scalar multiplication.
VelocityScrew6Df multiply​(VelocityScrew6Df rhs)
Wrench6Df multiply​(Wrench6Df rhs)
Vector3Df multiplyAssign​(float s)
Scalar multiplication.
Vector3Df negate()
Unary minus.
negative version
float norm1()
Returns the Manhatten norm (1-norm) of the vector
float norm2()
Returns the Euclidean norm (2-norm) of the vector
Vector3Df normalize()
normalize vector to get length 1
float normInf()
Returns the infinte norm ( \inf-norm) of the vector
boolean notEqual​(EAAf rhs)
boolean notEqual​(Vector3Df b)
Compare with b for inequality.
void set​(long i, float d)
long size()
The dimension of the vector (i.e.
EAAf subtract​(EAAf rhs)
Vector3Df subtract​(Vector3Df b)
Vector subtraction.
Vector3Df subtractAssign​(Vector3Df v)
Vector subtraction.
java.lang.String toString()
static Vector3Df x()
Get x vector (1,0,0)
static Vector3Df y()
Get y vector (0,1,0)
static Vector3Df z()
Get z vector (0,0,1)
static Vector3Df zero()
Get zero vector.
• ### Methods inherited from class java.lang.Object

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

• #### Vector3Df

public Vector3Df​(long cPtr,
boolean cMemoryOwn)
• #### Vector3Df

public Vector3Df()
Creates a 3D vector initialized with 0's
• #### Vector3Df

public Vector3Df​(float x,
float y,
float z)
Creates a 3D vector
Parameters:
x - [in] x
y - [in] y
z - [in] z
• #### Vector3Df

public Vector3Df​(Vector3Df copy_vec)
Copy constructor
Parameters:
copy_vec - [in] vector to copy
• #### Vector3Df

public Vector3Df​(vector_f vec)
construct vector from std::vector
Parameters:
vec - [in] the vector to construct from
• ### Method Detail

• #### getCPtr

public static long getCPtr​(Vector3Df 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 Vector3Df zero()
Get zero vector.
Returns:
vector.
• #### x

public static Vector3Df x()
Get x vector (1,0,0)
Returns:
vector.
• #### y

public static Vector3Df y()
Get y vector (0,1,0)
Returns:
vector.
• #### z

public static Vector3Df z()
Get z vector (0,0,1)
Returns:
vector.
• #### elemDivide

public Vector3Df elemDivide​(Vector3Df rhs)
element wise division.
Parameters:
rhs - [in] the vector being devided with
Returns:
the resulting Vector3D
• #### elemMultiply

public Vector3Df elemMultiply​(Vector3Df rhs)
Elementweise multiplication.
Parameters:
rhs - [in] vector
Returns:
the element wise product
• #### subtract

public Vector3Df subtract​(Vector3Df b)
Vector subtraction.
• #### add

public Vector3Df add​(Vector3Df b)
Vector addition.
• #### negate

public Vector3Df negate()
Unary minus.
negative version
• #### divide

public Vector3Df divide​(float s)
Scalar division.
Parameters:
s - [in] the scalar to devide with
Returns:
result of devision
• #### multiply

public Vector3Df multiply​(float rhs)
Scalar multiplication.
Parameters:
rhs - [in] the scalar to multiply with
Returns:
the product
• #### elemSubtract

public Vector3Df elemSubtract​(float rhs)
Scalar subtraction.
• #### elemAdd

public Vector3Df elemAdd​(float rhs)
Scalar addition.
• #### norm2

public float norm2()
Returns the Euclidean norm (2-norm) of the vector
Returns:
the norm
• #### norm1

public float norm1()
Returns the Manhatten norm (1-norm) of the vector
Returns:
the norm
• #### normInf

public float normInf()
Returns the infinte norm ( \inf-norm) of the vector
Returns:
the norm
• #### cross

public Vector3Df cross​(Vector3Df vec)
Calculate cross product
Parameters:
vec - [in] the vector to cross with
Returns:
the cross product
• #### dot

public float dot​(Vector3Df vec)
calculate the dot product
Parameters:
vec - [in] the vecor to be dotted
Returns:
the dot product
• #### normalize

public Vector3Df normalize()
normalize vector to get length 1
Returns:
the normalized Vector
• #### e

public EigenVector3f e()
Returns Reference to Eigen Vector
Returns:
reference to underling eigen
• #### get

public float get​(long i)
• #### set

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

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

public Vector3Df multiplyAssign​(float s)
Scalar multiplication.
• #### devideAssign

public Vector3Df devideAssign​(float s)
Scalar division.
• #### addAssign

public Vector3Df addAssign​(Vector3Df v)
Vector addition.
• #### subtractAssign

public Vector3Df subtractAssign​(Vector3Df v)
Vector subtraction.
• #### equals

public boolean equals​(Vector3Df b)
Compare with b for equality.
Parameters:
b - [in] other vector.
Returns:
True if a equals b, false otherwise.
• #### notEqual

public boolean notEqual​(Vector3Df b)
Compare with b for inequality.
Parameters:
b - [in] other vector.
Returns:
True if a and b are different, false otherwise.
• #### add

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

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

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

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

public Wrench6Df multiply​(Wrench6Df rhs)
• #### multiply

public VelocityScrew6Df multiply​(VelocityScrew6Df rhs)