chrono::ChVector< Real > Class Template Reference
Description
template<class Real = double>
class chrono::ChVector< Real >
Definition of general purpose 3d vector variables, such as points in 3D.
This class implements the vectorial algebra in 3D (Gibbs products). ChVector is templated by precision, with default 'double'.
Further info at the Mathematical objects in Chrono manual page.
#include <ChVector.h>
Public Member Functions | |
| ChVector (Real x, Real y, Real z) | |
| ChVector (Real a) | |
| ChVector (const ChVector< Real > &other) | |
| template<class RealB > | |
| ChVector (const ChVector< RealB > &other) | |
| Copy constructor with type change. | |
| Real & | x () |
| Access to components. | |
| Real & | y () |
| Real & | z () |
| const Real & | x () const |
| const Real & | y () const |
| const Real & | z () const |
| Real * | data () |
| Access to underlying array storage. | |
| const Real * | data () const |
| template<typename Derived > | |
| ChVector (const Eigen::MatrixBase< Derived > &vec, typename std::enable_if<(Derived::MaxRowsAtCompileTime==1||Derived::MaxColsAtCompileTime==1), Derived >::type *=0) | |
| Construct a 3d vector from an Eigen vector expression. | |
| Eigen::Map< Eigen::Matrix< Real, 3, 1 > > | eigen () |
| View this 3d vector as an Eigen vector. | |
| Eigen::Map< const Eigen::Matrix< Real, 3, 1 > > | eigen () const |
| template<typename Derived > | |
| ChVector & | operator= (const Eigen::MatrixBase< Derived > &vec) |
| Assign an Eigen vector expression to this 3d vector. | |
| void | Set (Real x, Real y, Real z) |
| Set the three values of the vector at once. | |
| void | Set (const ChVector< Real > &v) |
| Set the vector as a copy of another vector. | |
| void | Set (Real s) |
| Set all the vector components ts to the same scalar. | |
| void | SetNull () |
| Set the vector to the null vector. More... | |
| bool | IsNull () const |
| Return true if this vector is the null vector. | |
| bool | Equals (const ChVector< Real > &other) const |
| Return true if this vector is equal to another vector. | |
| bool | Equals (const ChVector< Real > &other, Real tol) const |
| Return true if this vector is equal to another vector, within a tolerance 'tol'. | |
| Real | Length () const |
| Compute the euclidean norm of the vector, that is its length or magnitude. | |
| Real | Length2 () const |
| Compute the squared euclidean norm of the vector. | |
| Real | LengthInf () const |
| Compute the infinity norm of the vector, that is the maximum absolute value of one of its elements. | |
| Real & | operator[] (unsigned index) |
| Subscript operator. | |
| const Real & | operator[] (unsigned index) const |
| ChVector< Real > & | operator= (const ChVector< Real > &other) |
| Assignment operator (copy from another vector). | |
| template<class RealB > | |
| ChVector< Real > & | operator= (const ChVector< RealB > &other) |
| Assignment operator (copy from another vector) with type change. | |
| ChVector< Real > | operator+ () const |
| Operators for sign change. | |
| ChVector< Real > | operator- () const |
| ChVector< Real > | operator+ (const ChVector< Real > &other) const |
| Operator for vector sum. | |
| ChVector< Real > & | operator+= (const ChVector< Real > &other) |
| ChVector< Real > | operator- (const ChVector< Real > &other) const |
| Operator for vector difference. | |
| ChVector< Real > & | operator-= (const ChVector< Real > &other) |
| ChVector< Real > | operator* (const ChVector< Real > &other) const |
| Operator for element-wise multiplication. More... | |
| ChVector< Real > & | operator*= (const ChVector< Real > &other) |
| ChVector< Real > | operator/ (const ChVector< Real > &other) const |
| Operator for element-wise division. More... | |
| ChVector< Real > & | operator/= (const ChVector< Real > &other) |
| ChVector< Real > | operator* (Real s) const |
| Operator for scaling the vector by a scalar value, as V*s. | |
| ChVector< Real > & | operator*= (Real s) |
| ChVector< Real > | operator/ (Real v) const |
| Operator for scaling the vector by inverse of a scalar value, as v/s. | |
| ChVector< Real > & | operator/= (Real v) |
| Real | operator^ (const ChVector< Real > &other) const |
| Operator for dot product: A^B means the scalar dot-product A*B Note: pay attention to operator low precedence (see C++ precedence rules!) | |
| ChVector< Real > | operator% (const ChVector< Real > &other) const |
| Operator for cross product: AB means the vector cross-product AxB Note: pay attention to operator low precedence (see C++ precedence rules!) | |
| ChVector< Real > & | operator%= (const ChVector< Real > &other) |
| bool | operator<= (const ChVector< Real > &other) const |
| Component-wise comparison operators. | |
| bool | operator>= (const ChVector< Real > &other) const |
| bool | operator< (const ChVector< Real > &other) const |
| bool | operator> (const ChVector< Real > &other) const |
| bool | operator== (const ChVector< Real > &other) const |
| bool | operator!= (const ChVector< Real > &other) const |
| void | Add (const ChVector< Real > &A, const ChVector< Real > &B) |
| Set this vector to the sum of A and B: this = A + B. | |
| void | Sub (const ChVector< Real > &A, const ChVector< Real > &B) |
| Set this vector to the difference of A and B: this = A - B. | |
| void | Mul (const ChVector< Real > &A, Real s) |
| Set this vector to the product of a vector A and scalar s: this = A * s. | |
| void | Scale (Real s) |
| Scale this vector by a scalar: this *= s. | |
| void | Cross (const ChVector< Real > &A, const ChVector< Real > &B) |
| Set this vector to the cross product of A and B: this = A x B. | |
| ChVector< Real > | Cross (const ChVector< Real > other) const |
| Return the cross product with another vector: result = this x other. | |
| Real | Dot (const ChVector< Real > &B) const |
| Return the dot product with another vector: result = this ^ B. | |
| bool | Normalize () |
| Normalize this vector in place, so that its euclidean length is 1. More... | |
| ChVector< Real > | GetNormalized () const |
| Return a normalized copy of this vector, with euclidean length = 1. More... | |
| void | SetLength (Real s) |
| Impose a new length to the vector, keeping the direction unchanged. | |
| void | DirToDxDyDz (ChVector< Real > &Vx, ChVector< Real > &Vy, ChVector< Real > &Vz, const ChVector< Real > &Vsingular=ChVector< Real >(0, 1, 0)) const |
| Use the Gram-Schmidt orthonormalization to find the three orthogonal vectors of a coordinate system whose X axis is this vector. More... | |
| int | GetMaxComponent () const |
| Return the index of the largest component in absolute value. | |
| ChVector< Real > | GetOrthogonalVector () const |
| Return a unit vector orthogonal to this vector. | |
| void | ArchiveOut (ChArchiveOut &marchive) |
| Method to allow serialization of transient m_data to archives. | |
| void | ArchiveIn (ChArchiveIn &marchive) |
| Method to allow de-serialization of transient m_data from archives. | |
Friends | |
| template<typename RealB > | |
| class | ChVector |
| Declaration of friend classes. | |
Member Function Documentation
◆ DirToDxDyDz()
template<class Real>
|
inline |
Use the Gram-Schmidt orthonormalization to find the three orthogonal vectors of a coordinate system whose X axis is this vector.
Vsingular (optional) sets the normal to the plane on which Dz must lie.
◆ GetNormalized()
template<class Real >
|
inline |
Return a normalized copy of this vector, with euclidean length = 1.
Not to be confused with Normalize() which normalizes in place.
◆ Normalize()
template<class Real >
|
inline |
Normalize this vector in place, so that its euclidean length is 1.
Return false if the original vector had zero length (in which case the vector is set to [1,0,0]) and return true otherwise.
◆ operator*()
template<class Real>
|
inline |
Operator for element-wise multiplication.
Note that this is neither dot product nor cross product.
◆ operator/()
template<class Real>
|
inline |
Operator for element-wise division.
Note that 3D vector algebra is a skew field, non-divisional algebra, so this division operation is just an element-by element division.
◆ SetNull()
template<class Real >
|
inline |
Set the vector to the null vector.
Sets the vector as a null vector.
The documentation for this class was generated from the following file:
- /builds/uwsbel/chrono/src/chrono/core/ChVector.h
