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

A FrameVector is a 3D vector with a ReferenceFrame, and all operations between FrameVectors and other frame objects will perform runtime checks that objects are expressed in the same frames. This class and its implementation are an adaptation of FrameVector.java by Jerry Pratt and the IHMC Robotics Group. More...

#include <FrameVector.hpp>

Inheritance diagram for RobotDynamics::Math::FrameVector:

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Collaboration diagram for RobotDynamics::Math::FrameVector:

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Public Member Functions
	FrameVector ()
	Default constructor. Initializes its ReferenceFrame to nullptr. More...

	FrameVector (ReferenceFramePtr referenceFrame)
	Constructor. More...

	FrameVector (ReferenceFramePtr referenceFrame, const double &x, const double &y, const double &z)
	Constructor. More...

	FrameVector (ReferenceFramePtr referenceFrame, const Eigen::Vector3d &vector)
	Constructor. More...

virtual	~FrameVector ()
	Destructor. More...

Math::TransformableGeometricObject *	getTransformableGeometricObject ()
	Return pointer to this object as type TransformableGeometricObject. See FrameObject::changeFrame for an example of where this method is used. More...

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

void	setToZero ()
	Set x, y, and z components to 0. More...

void	setIncludingFrame (const double x, const double y, const double z, ReferenceFramePtr referenceFrame)
	Set the x, y, and z components and the ReferenceFrame these components are expressed in. More...

void	setIncludingFrame (const Eigen::Vector3d &vector, ReferenceFramePtr referenceFrame)
	Set the x, y, and z components and the ReferenceFrame these components are expressed in. More...

double	dot (const FrameVector &frameVector) const
	Dot product between two FrameVectors, i.e. $v_1 \cdot v_2$ . More...

FrameVector	cross (const FrameVector &vector) const
	Cross product between two FrameVectors, i.e. $v_1 \times v_2$ . More...

Vector3d	cross (const Vector3d &vector) const
	Cross product, i.e. $v_1 \times v_2$ . More...

double	getAngleBetweenVectors (const FrameVector &frameVector) const
	Computer the angle between two FrameVectors, $\arccos{\frac{v_1 \cdot v_2}{\|v_1\|\|v_2\|}}$ . More...

Vector3d	vec () const

void	operator+= (const Vector3d &v)

void	operator-= (const Vector3d &v)

void	operator+= (const FrameVector &v)
	Plus euals operator that performs runtime frame checks, . More...

void	operator-= (const FrameVector &v)
	Minus euals operator that performs runtime frame checks, . More...

template<typename T >
void	operator*= (const T scale)
	Times euals operator that performs runtime frame checks, . More...

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::Vector3d
template<typename OtherDerived >
	Vector3d (const Eigen::MatrixBase< OtherDerived > &other)

template<typename OtherDerived >
Vector3d &	operator= (const Eigen::MatrixBase< OtherDerived > &other)

EIGEN_STRONG_INLINE	Vector3d ()

EIGEN_STRONG_INLINE	Vector3d (const double &v0, const double &v1, const double &v2)

void	set (const Eigen::Vector3d &v)

void	set (const double &v0, const double &v1, const double &v2)

void	transform (const RobotDynamics::Math::SpatialTransform &X)
	Pure virtual object. This object forces objects that inherit from it to have a method that tells how that object is transformed. More...

Vector3d	transform_copy (const RobotDynamics::Math::SpatialTransform &X) const

Matrix3d	toTildeForm () const

Additional Inherited Members
Public Types inherited from RobotDynamics::Math::Vector3d
typedef Eigen::Vector3d	Base

Protected Attributes inherited from RobotDynamics::FrameObject
ReferenceFramePtr	referenceFrame

Detailed Description

Constructor & Destructor Documentation

◆ FrameVector() [1/4]

RobotDynamics::Math::FrameVector::FrameVector ( )

inline

Default constructor. Initializes its ReferenceFrame to nullptr.

◆ FrameVector() [2/4]

RobotDynamics::Math::FrameVector::FrameVector ( ReferenceFramePtr referenceFrame )

inlineexplicit

Constructor.

Parameters

referenceFrame A pointer to a ReferenceFrame

◆ FrameVector() [3/4]

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

inline

Constructor.

Parameters

referenceFrame	A pointer to a ReferenceFrame
x	Value of the x-coordinate
y	Value of the y-coordinate
z	Value of the z-coordinate

◆ FrameVector() [4/4]

RobotDynamics::Math::FrameVector::FrameVector	(	ReferenceFramePtr	referenceFrame,
		const Eigen::Vector3d &	vector
	)

inline

Constructor.

Parameters

referenceFrame	Pointer to a ReferenceFrame
vector	A Vector3d used to set the x,y, and z coordinates

◆ ~FrameVector()

virtual RobotDynamics::Math::FrameVector::~FrameVector ( )

inlinevirtual

Destructor.

Member Function Documentation

◆ changeFrameAndCopy()

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

inline

copy into new frame vector and change the frame of that

Parameters

referenceFrame

Returns

◆ cross() [1/2]

FrameVector RobotDynamics::Math::FrameVector::cross ( const FrameVector & vector ) const

inline

Cross product between two FrameVectors, i.e. $v_1 \times v_2$ .

Parameters

vector

Exceptions

ReferenceFrameException If the FrameVectors aren't expressed in the same ReferenceFrame

Returns: The cross product

◆ cross() [2/2]

Vector3d RobotDynamics::Math::FrameVector::cross ( const Vector3d & vector ) const

inline

Cross product, i.e. $v_1 \times v_2$ .

Parameters

vector

Returns: The cross product

◆ dot()

double RobotDynamics::Math::FrameVector::dot ( const FrameVector & frameVector ) const

inline

Dot product between two FrameVectors, i.e. $v_1 \cdot v_2$ .

Parameters

frameVector

Exceptions

ReferenceFrameException If the FrameVectors aren't expressed in the same ReferenceFrame

Returns: The dot product

◆ getAngleBetweenVectors()

double RobotDynamics::Math::FrameVector::getAngleBetweenVectors ( const FrameVector & frameVector ) const

inline

Computer the angle between two FrameVectors, $\arccos{\frac{v_1 \cdot v_2}{|v_1||v_2|}}$ .

Parameters

frameVector

Returns: The angle between the vectors

◆ getTransformableGeometricObject()

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

inlinevirtual

Return pointer to this object as type TransformableGeometricObject. See FrameObject::changeFrame for an example of where this method is used.

Returns: Pointer to this object as type TransformableGeometricObject

Implements RobotDynamics::FrameObject.

◆ operator*=()

template<typename T >

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

inline

Times euals operator that performs runtime frame checks, $ v=v*scale $ .

Template Parameters

typename of the scale parameter

Parameters

scale

◆ operator+=() [1/2]

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

inline

Plus euals operator that performs runtime frame checks, $ v_1=v_1-v $ .

Parameters

◆ operator+=() [2/2]

void RobotDynamics::Math::FrameVector::operator+= ( const Vector3d & v )

inline

◆ operator-=() [1/2]

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

inline

Minus euals operator that performs runtime frame checks, $ v_1=v_1-v $ .

Parameters

◆ operator-=() [2/2]

void RobotDynamics::Math::FrameVector::operator-= ( const Vector3d & v )

inline

◆ setIncludingFrame() [1/2]

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

inline

Set the x, y, and z components and the ReferenceFrame these components are expressed in.

Parameters

x	The x-component
y	y-component
z	z-component

Exceptions

ReferenceFrameException If *referenceFrame=nullptr

Parameters

referenceFrame Pointer to a ReferenceFrame this point is expressed in

◆ setIncludingFrame() [2/2]

void RobotDynamics::Math::FrameVector::setIncludingFrame	(	const Eigen::Vector3d &	vector,
		ReferenceFramePtr	referenceFrame
	)

inline

Set the x, y, and z components and the ReferenceFrame these components are expressed in.

Parameters

vector Used to set the x,y, and z components of this point

Exceptions

ReferenceFrameException If *referenceFrame=nullptr

Parameters

referenceFrame Pointer to a ReferenceFrame this point is expressed in

◆ setToZero()

void RobotDynamics::Math::FrameVector::setToZero ( )

inline

Set x, y, and z components to 0.

◆ vec()

Vector3d RobotDynamics::Math::FrameVector::vec ( ) const

inline

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

rdl_dynamics/include/rdl_dynamics/FrameVector.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FrameVector() [1/4]

◆ FrameVector() [2/4]

◆ FrameVector() [3/4]

◆ FrameVector() [4/4]

◆ ~FrameVector()

Member Function Documentation

◆ changeFrameAndCopy()

◆ cross() [1/2]

◆ cross() [2/2]

◆ dot()

◆ getAngleBetweenVectors()

◆ getTransformableGeometricObject()

◆ operator*=()

◆ operator+=() [1/2]

◆ operator+=() [2/2]

◆ operator-=() [1/2]

◆ operator-=() [2/2]

◆ setIncludingFrame() [1/2]

◆ setIncludingFrame() [2/2]

◆ setToZero()

◆ vec()