octomath::Vector3 Class Reference

This class represents a three-dimensional vector. More...

Public Member Functions
double	angleTo (const Vector3 &other) const
Vector3	cross (const Vector3 &other) const
	Three-dimensional vector (cross) product.
	DEPRECATED (inline Vector3 unit() const )
	DEPRECATED (double norm2() const )
double	distance (const Vector3 &other) const
double	distanceXY (const Vector3 &other) const
double	dot (const Vector3 &other) const
double	norm () const
Vector3 &	normalize ()
Vector3	normalized () const
float &	operator() (unsigned int i)
const float &	operator() (unsigned int i) const
Vector3	operator* (float x) const
void	operator*= (float x)
Vector3	operator+ (const Vector3 &other) const
void	operator+= (const Vector3 &other)
Vector3	operator- () const
Vector3	operator- (const Vector3 &other) const
void	operator-= (const Vector3 &other)
void	operator/= (float x)
Vector3 &	operator= (const Vector3 &other)
	Assignment operator.
bool	operator== (const Vector3 &other) const
float &	pitch ()
const float &	pitch () const
std::istream &	read (std::istream &s)
std::istream &	readBinary (std::istream &s)
const float &	roll () const
float &	roll ()
Vector3 &	rotate_IP (double roll, double pitch, double yaw)
	Vector3 ()
	Default constructor.
	Vector3 (float x, float y, float z)
	Constructor.
	Vector3 (const Vector3 &other)
	Copy constructor.
std::ostream &	write (std::ostream &s) const
std::ostream &	writeBinary (std::ostream &s) const
const float &	x () const
float &	x ()
float &	y ()
const float &	y () const
float &	yaw ()
const float &	yaw () const
const float &	z () const
float &	z ()
Protected Attributes
float	data [3]

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Detailed Description

This class represents a three-dimensional vector.

The three-dimensional vector can be used to represent a translation in three-dimensional space or to represent the attitude of an object using Euler angle.

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Constructor & Destructor Documentation

octomath::Vector3::Vector3

(

)

[inline]

Default constructor.

References data.

Referenced by cross().

octomath::Vector3::Vector3

(

const Vector3 &

other

)

[inline]

Copy constructor.

Parameters:

other

a vector of dimension 3

References data.

octomath::Vector3::Vector3	(	float	x,
		float	y,
		float	z
	)		[inline]

Constructor.

Constructs a three-dimensional vector from three single values x, y, z or roll, pitch, yaw

References data, x(), y(), and z().

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Member Function Documentation

double octomath::Vector3::angleTo

(

const Vector3 &

other

)

const [inline]

References dot(), and norm().

Vector3 octomath::Vector3::cross

(

const Vector3 &

other

)

const [inline]

Three-dimensional vector (cross) product.

Calculates the tree-dimensional cross product, which represents the vector orthogonal to the plane defined by this and other.

Returns:

this x other

References Vector3(), x(), y(), and z().

octomath::Vector3::DEPRECATED

(

double norm2()

const

)

[inline]

References norm().

octomath::Vector3::DEPRECATED

(

inline Vector3 unit()

const

)

[inline]

References normalized().

double octomath::Vector3::distance

(

const Vector3 &

other

)

const [inline]

References x(), y(), and z().

Referenced by octomap::MapCollection< MAPNODE >::castRay().

double octomath::Vector3::distanceXY

(

const Vector3 &

other

)

const [inline]

References x(), and y().

double octomath::Vector3::dot

(

const Vector3 &

other

)

const [inline]

References x(), y(), and z().

Referenced by angleTo().

double octomath::Vector3::norm

(

)

const [inline]

References operator()().

Referenced by angleTo(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::computeRayKeys(), DEPRECATED(), and normalize().

Vector3& octomath::Vector3::normalize

(

)

[inline]

References norm().

Referenced by normalized().

Vector3 octomath::Vector3::normalized

(

)

const [inline]

References normalize().

Referenced by octomap::OccupancyOcTreeBase< NODE >::castRay(), and DEPRECATED().

const float& octomath::Vector3::operator()

(

unsigned int

i

)

const [inline]

References data.

Referenced by norm(), pitch(), readBinary(), roll(), writeBinary(), x(), y(), yaw(), and z().

float& octomath::Vector3::operator()

(

unsigned int

i

)

[inline]

References data.

Vector3 octomath::Vector3::operator*

(

float

x

)

const [inline]

References x().

void octomath::Vector3::operator*=

(

float

x

)

[inline]

References data, and x().

Vector3 octomath::Vector3::operator+

(

const Vector3 &

other

)

const [inline]

void octomath::Vector3::operator+=

(

const Vector3 &

other

)

[inline]

References data.

Vector3 octomath::Vector3::operator-

(

)

const [inline]

References data.

Vector3 octomath::Vector3::operator-

(

const Vector3 &

other

)

const [inline]

void octomath::Vector3::operator-=

(

const Vector3 &

other

)

[inline]

References data.

void octomath::Vector3::operator/=

(

float

x

)

[inline]

References data, and x().

Vector3& octomath::Vector3::operator=

(

const Vector3 &

other

)

[inline]

Assignment operator.

Parameters:

other

a vector of dimension 3

References data.

bool octomath::Vector3::operator==

(

const Vector3 &

other

)

const [inline]

const float& octomath::Vector3::pitch

(

)

const [inline]

References operator()().

float& octomath::Vector3::pitch

(

)

[inline]

References operator()().

Referenced by octomath::Quaternion::Quaternion().

std::istream & octomath::Vector3::read

(

std::istream &

s

)

Referenced by octomath::Pose6D::read(), and octomap::ScanNode::readPoseASCII().

std::istream & octomath::Vector3::readBinary

(

std::istream &

s

)

References operator()().

Referenced by octomap::Pointcloud::readBinary(), and octomath::Pose6D::readBinary().

float& octomath::Vector3::roll

(

)

[inline]

References operator()().

Referenced by octomath::Quaternion::Quaternion().

const float& octomath::Vector3::roll

(

)

const [inline]

References operator()().

Vector3 & octomath::Vector3::rotate_IP	(	double	roll,
		double	pitch,
		double	yaw
	)

References x(), y(), and z().

Referenced by generateSphereTree(), and main().

std::ostream & octomath::Vector3::write

(

std::ostream &

s

)

const

Referenced by octomath::Pose6D::write().

std::ostream & octomath::Vector3::writeBinary

(

std::ostream &

s

)

const

References operator()().

Referenced by octomath::Pose6D::writeBinary().

float& octomath::Vector3::x

(

)

[inline]

References operator()().

Referenced by octomap::MapCollection< MAPNODE >::castRay(), cross(), distance(), distanceXY(), dot(), generateSphereTree(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::getUnknownLeafCenters(), octomap::OccupancyOcTreeBase< NODE >::inBBX(), main(), operator*(), operator*=(), operator/=(), octomath::operator<<(), octomath::Quaternion::Quaternion(), rotate_IP(), and Vector3().

const float& octomath::Vector3::x

(

)

const [inline]

References operator()().

const float& octomath::Vector3::y

(

)

const [inline]

References operator()().

float& octomath::Vector3::y

(

)

[inline]

References operator()().

Referenced by octomap::MapCollection< MAPNODE >::castRay(), cross(), distance(), distanceXY(), dot(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::getUnknownLeafCenters(), octomap::OccupancyOcTreeBase< NODE >::inBBX(), main(), octomath::operator<<(), octomath::Quaternion::Quaternion(), rotate_IP(), and Vector3().

const float& octomath::Vector3::yaw

(

)

const [inline]

References operator()().

float& octomath::Vector3::yaw

(

)

[inline]

References operator()().

Referenced by octomath::Quaternion::Quaternion().

float& octomath::Vector3::z

(

)

[inline]

References operator()().

Referenced by octomap::MapCollection< MAPNODE >::castRay(), cross(), distance(), dot(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::getUnknownLeafCenters(), octomap::OccupancyOcTreeBase< NODE >::inBBX(), main(), octomath::operator<<(), octomath::Quaternion::Quaternion(), rotate_IP(), and Vector3().

const float& octomath::Vector3::z

(

)

const [inline]

References operator()().

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Field Documentation

float octomath::Vector3::data[3] [protected]

Referenced by operator()(), operator*=(), operator+=(), operator-(), operator-=(), operator/=(), operator=(), and Vector3().

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The documentation for this class was generated from the following files:

• include/octomap/math/Vector3.h
• src/math/Vector3.cpp