Robot Dynamics Library: RobotDynamics::Math::FramePoint Class Reference

A FramePoint is a 3D point that is expressed in a ReferenceFrame. To change the ReferenceFrame a FramePoint is expressed in, you may call the inhereted FrameObject::changeFrame method and supply it a pointer to the ReferenceFrame you wish to have the FramePoint expressed in. This class and its implementation are an adaptation of FramePoint.java by Jerry Pratt and the IHMC Robotics Group. More...

#include <FramePoint.hpp>

Inheritance diagram for RobotDynamics::Math::FramePoint:

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Collaboration diagram for RobotDynamics::Math::FramePoint:

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Public Member Functions
	FramePoint (ReferenceFramePtr referenceFrame, const double x, const double y, const double z)
	Constructor. More...

	FramePoint (ReferenceFramePtr referenceFrame, Math::Vector3d v)
	Constructor. More...

	FramePoint (ReferenceFramePtr referenceFrame, const Math::Point3d &point)
	Constructor. More...

	FramePoint (const FramePoint &framePoint)
	Copy constructor. More...

	FramePoint (ReferenceFramePtr referenceFrame)
	Constructor that initializes to (x,y,z) = (0,0,0) More...

	FramePoint ()
	Empty constructor that creates a point with ReferencFrame=nullptr and (x,y,z)=(0,0,0) More...

FramePoint &	operator= (const FramePoint &p)

	~FramePoint ()
	Destructor. More...

Math::Point3d	point () const
	Get as point3d. More...

Math::TransformableGeometricObject *	getTransformableGeometricObject ()
	Return a pointer to this as base class type Math::TransformableGeometricObject. See FrameObject::changeFrame for how this method is used. More...

FramePoint	changeFrameAndCopy (ReferenceFramePtr referenceFrame) const
	copy into new frame point and change the frame of that More...

EIGEN_STRONG_INLINE void	setIncludingFrame (const Math::Vector3d &v, ReferenceFramePtr referenceFrame)
	Set both the ReferenceFrame this object is expressed in as well as the (x,y,z) coordinates of the point. More...

void	setIncludingFrame (const double x, const double y, const double z, ReferenceFramePtr referenceFrame)
	Set both the ReferenceFrame the point is expressed in as well as the (x,y,z) coordinates. More...

void	setIncludingFrame (const Math::Point3d &point, ReferenceFramePtr referenceFrame)
	Set both the ReferenceFrame the point is expressed in as well as the (x,y,z) coordinates. More...

double	distanceSquared (const FramePoint &point) const
	Calculate the distance squared between two FramePoints. $\Delta_x^2+\Delta_y^2+\Delta_z^2$ . More...

double	distance2DSquared (const FramePoint &point, int plane=2) const
	Calculate the 2D distance squared between two FramePoints. More...

double	distance2DSquared (const Point3d &point, int plane=2) const
	Calculate the distance squared from this point to a Point3d. More...

double	distanceSquared (const Point3d &point) const
	Calculate the distance squared from this point to a Point3d. More...

double	distance2D (const FramePoint &point, int plane=2) const
	Calculate the distance between two FramePoints. $\sqrt{\Delta_x^2+\Delta_y^2+\Delta_z^2}$ . More...

double	distance (const FramePoint &point) const
	Calculate the distance between two FramePoints. $\sqrt{\Delta_x^2+\Delta_y^2+\Delta_z^2}$ . More...

double	distance2D (const Point3d &point, int plane=2) const
	Calculate the distance to a Point3d. More...

double	distance (const Point3d &point) const
	Calculate the distance to a Point3d. More...

double	distanceL1 (const FramePoint &point) const
	Calculate the L1 distance between two FramePoints by $\|\Delta_x\| + \|\Delta_y\| + \|\Delta_z\|$ . More...

double	distanceLinf (const FramePoint &point) const
	Calculate the LInfinity distance between two FramePoints by $max(\|\Delta_x\|,\|\Delta_y\|,\|\Delta_z\|)$ . More...

bool	epsilonEquals (const FramePoint &point, const double epsilon) const
	Return true FramePoint argument is within epsilon of this, false otherwise. More...

bool	isApprox (const FramePoint &point, const double epsilon) const
	Return true FramePoint argument is within epsilon of this and they have the same reference frame, false otherwise. More...

template<typename T >
void	operator*= (const T scale)
	Overloaded = operator, performs this = thisscala. More...

template<typename T >
void	operator/= (const T scale)
	Overloaded /= operator, performs this = this*scale. More...

void	operator+= (const FrameVector &v)

void	operator-= (const FrameVector &v)

Public Member Functions inherited from RobotDynamics::FrameObject
	FrameObject (ReferenceFramePtr referenceFrame)

virtual	~FrameObject ()
	Destructor. More...

virtual void	changeFrame (ReferenceFramePtr desiredFrame)
	Change the ReferenceFrame this FrameObject is expressed in. More...

ReferenceFramePtr	getReferenceFrame () const
	Get a pointer to the reference frame this FrameObject is expressed in. More...

void	setReferenceFrame (ReferenceFramePtr frame)
	Set frame objects internal reference frame. More...

void	checkReferenceFramesMatch (const FrameObject *frameObject) const
	Check if two FrameObjects hold the same ReferenceFrame. More...

void	checkReferenceFramesMatch (FrameObject *frameObject) const

Public Member Functions inherited from RobotDynamics::Math::Point3d
	Point3d (const double x, const double y, const double z)

	Point3d (const Point3d &point)

	Point3d (const Vector3d &vector)

EIGEN_STRONG_INLINE	Point3d ()

virtual	~Point3d ()

void	transform (const Math::SpatialTransform &X)
	Performs in place point transform. Given a point, , this performs . More...

Point3d	transform_copy (const Math::SpatialTransform &X) const

EIGEN_STRONG_INLINE void	set (const std::vector< double > &vector)

EIGEN_STRONG_INLINE void	set (const Point3d &point)

void	set (const Math::Vector3d &v)

void	set (const double x, const double y, const double z)

EIGEN_STRONG_INLINE void	setToZero ()

EIGEN_STRONG_INLINE bool	epsilonEquals (const Point3d &point, const double epsilon) const

void	clampMin (const double min)
	clamp any values that are less than min to min More...

void	clampMax (const double max)
	clamp any values that are greater than make to max More...

void	clampMinMax (const double min, const double max)
	clamp any values greater than max to max, and any value less than min to min More...

void	absoluteValue ()
	Set each element to the absolute value. More...

double	distance2DSquared (const Point3d &point, int plane=2) const
	Square of the 2d distance between two points. More...

double	distanceSquared (const Point3d &point) const
	Square of the distance between two points, . More...

double	distance2D (const Point3d &point, int plane=2) const

double	distance (const Point3d &point) const

double	distanceL1 (const Point3d &point) const
	L1 norm of two points. More...

Vector3d	cross (const Vector3d &v)
	Cross product between a point and vector. More...

double	distanceLinf (const Point3d &point) const

EIGEN_STRONG_INLINE double &	x ()

EIGEN_STRONG_INLINE double	x () const

EIGEN_STRONG_INLINE double &	y ()

EIGEN_STRONG_INLINE double	y () const

EIGEN_STRONG_INLINE double &	z ()

EIGEN_STRONG_INLINE double	z () const

EIGEN_STRONG_INLINE double *	data ()

EIGEN_STRONG_INLINE Math::Vector3d	vec () const

Point3d &	operator= (const Point3d &other)

template<typename T >
void	operator*= (const T scale)

template<typename T >
void	operator/= (const T scale)

bool	operator== (const Point3d &rhs)

bool	operator!= (const Point3d &rhs)

void	operator+= (const Vector3d &v)

void	operator-= (const Vector3d &v)

Additional Inherited Members
Protected Attributes inherited from RobotDynamics::FrameObject
ReferenceFramePtr	referenceFrame

Protected Attributes inherited from RobotDynamics::Math::Point3d
double	point [3]

Detailed Description

Constructor & Destructor Documentation

◆ FramePoint() [1/6]

RobotDynamics::Math::FramePoint::FramePoint	(	ReferenceFramePtr	referenceFrame,
		const double	x,
		const double	y,
		const double	z
	)

inline

Constructor.

Parameters

referenceFrame	A pointer to the ReferenceFrame the point will be expressed in
x	The x-component of the point
y	The y-component of the point
z	The z-component of the point

◆ FramePoint() [2/6]

RobotDynamics::Math::FramePoint::FramePoint	(	ReferenceFramePtr	referenceFrame,
		Math::Vector3d	v
	)

inline

Constructor.

Parameters

referenceFrame	A pointer to the ReferenceFrame the point will be expressed in
v	A Vector3d that will be used to set the components of this FramePoint

◆ FramePoint() [3/6]

RobotDynamics::Math::FramePoint::FramePoint	(	ReferenceFramePtr	referenceFrame,
		const Math::Point3d &	point
	)

inline

Constructor.

Parameters

referenceFrame	A pointer to the ReferenceFrame the point will be expressed in
point	A Math::Point3 that will be used to set the components of this FramePoint

◆ FramePoint() [4/6]

RobotDynamics::Math::FramePoint::FramePoint ( const FramePoint & framePoint )

inline

Copy constructor.

Parameters

framePoint A FramePoint to copy

◆ FramePoint() [5/6]

RobotDynamics::Math::FramePoint::FramePoint ( ReferenceFramePtr referenceFrame )

inlineexplicit

Constructor that initializes to (x,y,z) = (0,0,0)

Parameters

referenceFrame A pointer to the ReferenceFrame the point will be expressed in

◆ FramePoint() [6/6]

RobotDynamics::Math::FramePoint::FramePoint ( )

inline

Empty constructor that creates a point with ReferencFrame=nullptr and (x,y,z)=(0,0,0)

◆ ~FramePoint()

RobotDynamics::Math::FramePoint::~FramePoint ( )

inline

Destructor.

Member Function Documentation

◆ changeFrameAndCopy()

FramePoint RobotDynamics::Math::FramePoint::changeFrameAndCopy ( ReferenceFramePtr referenceFrame ) const

inline

copy into new frame point and change the frame of that

Parameters

referenceFrame

Returns

◆ distance() [1/2]

double RobotDynamics::Math::FramePoint::distance ( const FramePoint & point ) const

inline

Calculate the distance between two FramePoints. $\sqrt{\Delta_x^2+\Delta_y^2+\Delta_z^2}$ .

Parameters

plane	2 = z, 1 = y, 0 = x. Defaults to 2 which is the z = 0 plane
point	FramePoint to calculate distance to

Exceptions

ReferenceFrameException If both points are not expressed in the same ReferenceFrame

Returns: Distance between points

◆ distance() [2/2]

double RobotDynamics::Math::FramePoint::distance ( const Point3d & point ) const

inline

Calculate the distance to a Point3d.

Parameters

point Point3d to calculate distance to

Returns: Distance between points

◆ distance2D() [1/2]

double RobotDynamics::Math::FramePoint::distance2D	(	const FramePoint &	point,
		int	plane = `2`
	)		const

inline

Calculate the distance between two FramePoints. $\sqrt{\Delta_x^2+\Delta_y^2+\Delta_z^2}$ .

Exceptions

ReferenceFrameException If both points are not expressed in the same ReferenceFrame

Parameters

point FramePoint to calculate distance to

Returns: Distance between points as template type T

◆ distance2D() [2/2]

double RobotDynamics::Math::FramePoint::distance2D	(	const Point3d &	point,
		int	plane = `2`
	)		const

inline

Calculate the distance to a Point3d.

Parameters

point	Point3d to calculate distance to
plane	2 = z, 1 = y, 0 = x. Defaults to 2 which is the z = 0 plane

Returns: Distance between points

◆ distance2DSquared() [1/2]

double RobotDynamics::Math::FramePoint::distance2DSquared	(	const FramePoint &	point,
		int	plane = `2`
	)		const

inline

Calculate the 2D distance squared between two FramePoints.

Parameters

point	FramePoint to calculate squared distance to
plane,2	= z, 1 = y, 0 = x. Defaults to 2 which is the z = 0 plane

Exceptions

ReferenceFrameException	If both points are not expressed in the same ReferenceFrame
std::runtime_error	if the plane argument is less than zero or greater than 2

Returns: Distance squared

◆ distance2DSquared() [2/2]

double RobotDynamics::Math::FramePoint::distance2DSquared	(	const Point3d &	point,
		int	plane = `2`
	)		const

inline

Calculate the distance squared from this point to a Point3d.

Parameters

point	Point3d to calculate squared distance to
plane,2	= z, 1 = y, 0 = x. Defaults to 2 which is the z = 0 plane

Exceptions

std::runtime_error if the plane argument is less than zero or greater than 2

Returns: Distance squared

◆ distanceL1()

double RobotDynamics::Math::FramePoint::distanceL1 ( const FramePoint & point ) const

inline

Calculate the L1 distance between two FramePoints by $|\Delta_x| + |\Delta_y| + |\Delta_z|$ .

Exceptions

ReferenceFrameException If both points are not expressed in the same ReferenceFrame

Parameters

point FramePoint to calculate distance to

Returns: Distance between points as template type T

◆ distanceLinf()

double RobotDynamics::Math::FramePoint::distanceLinf ( const FramePoint & point ) const

inline

Calculate the LInfinity distance between two FramePoints by $max(|\Delta_x|,|\Delta_y|,|\Delta_z|)$ .

Exceptions

ReferenceFrameException If both points are not expressed in the same ReferenceFrame

Parameters

point FramePoint to calculate distance to

Returns: Distance between points as template type T

◆ distanceSquared() [1/2]

double RobotDynamics::Math::FramePoint::distanceSquared ( const FramePoint & point ) const

inline

Calculate the distance squared between two FramePoints. $\Delta_x^2+\Delta_y^2+\Delta_z^2$ .

Exceptions

ReferenceFrameException If both points are not expressed in the same ReferenceFrame

Parameters

point FramePoint to calculate squared distance to

Returns: Distance squared

◆ distanceSquared() [2/2]

double RobotDynamics::Math::FramePoint::distanceSquared ( const Point3d & point ) const

inline

Calculate the distance squared from this point to a Point3d.

Parameters

point Point3d to calculate squared distance to

Returns: Distance squared

◆ epsilonEquals()

bool RobotDynamics::Math::FramePoint::epsilonEquals	(	const FramePoint &	point,
		const double	epsilon
	)		const

inline

Return true FramePoint argument is within epsilon of this, false otherwise.

Parameters

point	The FramePoint to be compared
epsilon	The tolerance of the comparison check

Exceptions

ReferenceFrameException If both points are not expressed in the same ReferenceFrame

Deprecated:: prefer isApprox instead

◆ getTransformableGeometricObject()

Math::TransformableGeometricObject* RobotDynamics::Math::FramePoint::getTransformableGeometricObject ( )

inlinevirtual

Return a pointer to this as base class type Math::TransformableGeometricObject. See FrameObject::changeFrame for how this method is used.

Returns: Pointer to this object as type Math::TransformableGeometricObject

Implements RobotDynamics::FrameObject.

◆ isApprox()

bool RobotDynamics::Math::FramePoint::isApprox	(	const FramePoint &	point,
		const double	epsilon
	)		const

inline

Return true FramePoint argument is within epsilon of this and they have the same reference frame, false otherwise.

Parameters

point	The FramePoint to be compared
epsilon	The tolerance of the comparison check

◆ operator*=()

template<typename T >

void RobotDynamics::Math::FramePoint::operator*= ( const T scale )

inline

Overloaded *= operator, performs this = this*scala.

Parameters

scale Scalar to scale each element of this FramePoint by

Returns: FramePoint representing this = this*scale

◆ operator+=()

void RobotDynamics::Math::FramePoint::operator+= ( const FrameVector & v )

inline

◆ operator-=()

void RobotDynamics::Math::FramePoint::operator-= ( const FrameVector & v )

inline

◆ operator/=()

template<typename T >

void RobotDynamics::Math::FramePoint::operator/= ( const T scale )

inline

Overloaded /= operator, performs this = this*scale.

Parameters

scale Scalar to divide each element of this FramePoint by

Returns: FramePoint representing this = this/scale

◆ operator=()

FramePoint& RobotDynamics::Math::FramePoint::operator= ( const FramePoint & p )

inline

◆ point()

Math::Point3d RobotDynamics::Math::FramePoint::point ( ) const

inline

Get as point3d.

Returns: Point as Point3d type

◆ setIncludingFrame() [1/3]

void RobotDynamics::Math::FramePoint::setIncludingFrame	(	const double	x,
		const double	y,
		const double	z,
		ReferenceFramePtr	referenceFrame
	)

inline

Set both the ReferenceFrame the point is expressed in as well as the (x,y,z) coordinates.

Parameters

x	The x coordinate
y	The y coordinate
z	The z coordinate
referenceFrame	The ReferenceFrame this point is to be expressed in

◆ setIncludingFrame() [2/3]

void RobotDynamics::Math::FramePoint::setIncludingFrame	(	const Math::Point3d &	point,
		ReferenceFramePtr	referenceFrame
	)

inline

Set both the ReferenceFrame the point is expressed in as well as the (x,y,z) coordinates.

Parameters

point	Math::Point3d to set this point to
referenceFrame	Pointer to ReferenceFrame this point will be expressed in

◆ setIncludingFrame() [3/3]

EIGEN_STRONG_INLINE void RobotDynamics::Math::FramePoint::setIncludingFrame	(	const Math::Vector3d &	v,
		ReferenceFramePtr	referenceFrame
	)

inline

Set both the ReferenceFrame this object is expressed in as well as the (x,y,z) coordinates of the point.

Parameters

v	Vector3d that this point will be set to
referenceFrame	Pointer to the ReferenceFrame this object will be expressed in

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

rdl_dynamics/include/rdl_dynamics/FramePoint.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FramePoint() [1/6]

◆ FramePoint() [2/6]

◆ FramePoint() [3/6]

◆ FramePoint() [4/6]

◆ FramePoint() [5/6]

◆ FramePoint() [6/6]

◆ ~FramePoint()

Member Function Documentation

◆ changeFrameAndCopy()

◆ distance() [1/2]

◆ distance() [2/2]

◆ distance2D() [1/2]

◆ distance2D() [2/2]

◆ distance2DSquared() [1/2]

◆ distance2DSquared() [2/2]

◆ distanceL1()

◆ distanceLinf()

◆ distanceSquared() [1/2]

◆ distanceSquared() [2/2]

◆ epsilonEquals()

◆ getTransformableGeometricObject()

◆ isApprox()

◆ operator*=()

◆ operator+=()

◆ operator-=()

◆ operator/=()

◆ operator=()

◆ point()

◆ setIncludingFrame() [1/3]

◆ setIncludingFrame() [2/3]

◆ setIncludingFrame() [3/3]