fawkes::HomVector Class Reference
A homogeneous vector. More...
#include <geometry/hom_vector.h>
Public Member Functions | |
| HomVector (float x=0, float y=0, float z=0) | |
| Constructor. | |
| HomVector (const HomCoord &h) | |
| Constructor. | |
| virtual | ~HomVector () |
| Destructor. | |
| float | length () const |
| Calculates the length of the vector. | |
| HomVector & | set_length (float length) |
| Scales the vector such that it has the given length. | |
| HomVector & | unit () |
| Brings the vector to unit-length. | |
| float | angle_xy (const HomVector &h) const |
| Compute the angle between two vectors. | |
Detailed Description
A homogeneous vector.
Definition at line 31 of file hom_vector.h.
Constructor & Destructor Documentation
| fawkes::HomVector::HomVector | ( | float | x = 0, |
|
| float | y = 0, |
|||
| float | z = 0 | |||
| ) |
Constructor.
- Parameters:
-
x the x-coordinate y the y-coordinate z the z-coordinate
Definition at line 41 of file hom_vector.cpp.
| fawkes::HomVector::HomVector | ( | const HomCoord & | h | ) |
Constructor.
- Parameters:
-
h a HomCoord
Definition at line 49 of file hom_vector.cpp.
References fawkes::HomCoord::w().
| fawkes::HomVector::~HomVector | ( | ) | [virtual] |
Destructor.
Definition at line 61 of file hom_vector.cpp.
Member Function Documentation
| float fawkes::HomVector::angle_xy | ( | const HomVector & | v | ) | const |
Compute the angle between two vectors.
- Parameters:
-
v the other vector
- Returns:
- the angle (-M_PI ... M_PI)
Definition at line 110 of file hom_vector.cpp.
References length(), fawkes::HomCoord::x(), and fawkes::HomCoord::y().
| float fawkes::HomVector::length | ( | ) | const |
Calculates the length of the vector.
- Returns:
- the length
Definition at line 69 of file hom_vector.cpp.
References fawkes::HomCoord::x(), fawkes::HomCoord::y(), and fawkes::HomCoord::z().
Referenced by angle_xy(), fawkes::LineSegment::length(), and set_length().
| HomVector & fawkes::HomVector::set_length | ( | float | length | ) |
Scales the vector such that it has the given length.
- Parameters:
-
length the new length
- Returns:
- reference to a vector with given length
Definition at line 92 of file hom_vector.cpp.
References length(), fawkes::HomCoord::x(), fawkes::HomCoord::y(), and fawkes::HomCoord::z().
Referenced by fawkes::HomPolar::r(), and unit().
| HomVector & fawkes::HomVector::unit | ( | ) |
Brings the vector to unit-length.
- Returns:
- a reference to itself
Definition at line 80 of file hom_vector.cpp.
References set_length().
Referenced by fawkes::HomPose2d::HomPose2d().
The documentation for this class was generated from the following files:
- src/libs/geometry/hom_vector.h
- src/libs/geometry/hom_vector.cpp
