Fawkes API
Fawkes Development Version
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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. | |
float | length_square () const |
Calculates the squared length length of the vector (faster than length. | |
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. |
A homogeneous vector.
fawkes::HomVector::HomVector | ( | float | x = 0 , |
float | y = 0 , |
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float | z = 0 |
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) |
Constructor.
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.
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.
float fawkes::HomVector::angle_xy | ( | const HomVector & | v | ) | const |
Compute the angle between two vectors.
v | the other vector |
Definition at line 117 of file hom_vector.cpp.
References length(), fawkes::HomCoord::y(), and fawkes::HomCoord::x().
float fawkes::HomVector::length | ( | ) | const |
Calculates the length of the vector.
Definition at line 69 of file hom_vector.cpp.
References length_square().
Referenced by set_length(), angle_xy(), and fawkes::LineSegment::length().
float fawkes::HomVector::length_square | ( | ) | const |
Calculates the squared length length of the vector (faster than length.
Definition at line 78 of file hom_vector.cpp.
References fawkes::HomCoord::x(), fawkes::HomCoord::y(), and fawkes::HomCoord::z().
Referenced by length().
HomVector & fawkes::HomVector::set_length | ( | float | length | ) |
Scales the vector such that it has the given length.
length | the new length |
Definition at line 99 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.
Definition at line 87 of file hom_vector.cpp.
References set_length().
Referenced by fawkes::HomPose2d::HomPose2d().