This class represents a three-dimensional vector. More...

Public Member Functions
double	angleTo (const Vector3 &other) const

Vector3	cross (const Vector3 &other) const
	Three-dimensional vector (cross) product. More...

double	distance (const Vector3 &other) const

double	distanceXY (const Vector3 &other) const

double	dot (const Vector3 &other) const
	dot product More...

double	norm () const

double	norm_sq () const

Vector3 &	normalize ()
	normalizes this vector, so that it has norm=1.0 More...

Vector3	normalized () const

float &	operator() (unsigned int i)

const float &	operator() (unsigned int i) const

Vector3	operator* (float x) const

void	operator*= (float x)

Vector3	operator+ (const Vector3 &other) const

void	operator+= (const Vector3 &other)

Vector3	operator- () const

Vector3	operator- (const Vector3 &other) const

void	operator-= (const Vector3 &other)

void	operator/= (float x)

Vector3 &	operator= (const Vector3 &other)
	Assignment operator. More...

bool	operator== (const Vector3 &other) const

float &	pitch ()

const float &	pitch () const

std::istream &	read (std::istream &s)

std::istream &	readBinary (std::istream &s)

float &	roll ()

const float &	roll () const

Vector3 &	rotate_IP (double roll, double pitch, double yaw)

	Vector3 ()
	Default constructor. More...

	Vector3 (const Vector3 &other)
	Copy constructor. More...

	Vector3 (float x, float y, float z)
	Constructor. More...

std::ostream &	write (std::ostream &s) const

std::ostream &	writeBinary (std::ostream &s) const

float &	x ()

const float &	x () const

float &	y ()

const float &	y () const

float &	yaw ()

const float &	yaw () const

float &	z ()

const float &	z () const

Protected Attributes
float	data [3]

Detailed Description

This class represents a three-dimensional vector.

The three-dimensional vector can be used to represent a translation in three-dimensional space or to represent the attitude of an object using Euler angle.

Constructor & Destructor Documentation

◆ Vector3() [1/3]

octomath::Vector3::Vector3 ( )

inline

Default constructor.

References data.

Referenced by cross().

◆ Vector3() [2/3]

octomath::Vector3::Vector3 ( const Vector3 & other )

inline

Copy constructor.

Parameters

other a vector of dimension 3

References data.

◆ Vector3() [3/3]

octomath::Vector3::Vector3	(	float	x,
		float	y,
		float	z
	)

inline

Constructor.

Constructs a three-dimensional vector from three single values x, y, z or roll, pitch, yaw

References data, x(), y(), and z().

Member Function Documentation

◆ angleTo()

double octomath::Vector3::angleTo ( const Vector3 & other ) const

inline

References dot(), and norm().

◆ cross()

Vector3 octomath::Vector3::cross ( const Vector3 & other ) const

inline

Three-dimensional vector (cross) product.

Calculates the tree-dimensional cross product, which represents the vector orthogonal to the plane defined by this and other.

Returns: this x other

References Vector3(), x(), y(), and z().

Referenced by octomap::OccupancyOcTreeBase< OcTreeNodeStamped >::getNormals().

◆ distance()

double octomath::Vector3::distance ( const Vector3 & other ) const

inline

References x(), y(), and z().

Referenced by octomap::MapCollection< MAPNODE >::castRay().

◆ distanceXY()

double octomath::Vector3::distanceXY ( const Vector3 & other ) const

inline

References x(), and y().

◆ dot()

double octomath::Vector3::dot ( const Vector3 & other ) const

inline

dot product

References x(), y(), and z().

Referenced by angleTo(), and octomap::OccupancyOcTreeBase< OcTreeNodeStamped >::getRayIntersection().

◆ norm()

double octomath::Vector3::norm ( ) const

inline

Returns: length of the vector ("L2 norm")

References norm_sq().

Referenced by angleTo(), octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >::computeRayKeys(), and normalize().

◆ norm_sq()

double octomath::Vector3::norm_sq ( ) const

inline

Returns: squared length ("L2 norm") of the vector

References x(), y(), and z().

Referenced by norm().

◆ normalize()

Vector3& octomath::Vector3::normalize ( )

inline

normalizes this vector, so that it has norm=1.0

References norm().

Referenced by octomap::OccupancyOcTreeBase< OcTreeNodeStamped >::getNormals(), and normalized().

◆ normalized()

Vector3 octomath::Vector3::normalized ( ) const

inline

Returns: normalized vector, this one remains unchanged

References normalize().

Referenced by octomap::OccupancyOcTreeBase< OcTreeNodeStamped >::castRay().

◆ operator()() [1/2]

float& octomath::Vector3::operator() ( unsigned int i )

inline

References data.

◆ operator()() [2/2]

const float& octomath::Vector3::operator() ( unsigned int i ) const

inline

References data.

Referenced by pitch(), readBinary(), roll(), writeBinary(), x(), y(), yaw(), and z().

◆ operator*()

Vector3 octomath::Vector3::operator* ( float x ) const

inline

References x().

◆ operator*=()

void octomath::Vector3::operator*= ( float x )

inline

References data, and x().

◆ operator+()

Vector3 octomath::Vector3::operator+ ( const Vector3 & other ) const

inline

◆ operator+=()

void octomath::Vector3::operator+= ( const Vector3 & other )

inline

References data.

◆ operator-() [1/2]

Vector3 octomath::Vector3::operator- ( ) const

inline

References data.

◆ operator-() [2/2]

Vector3 octomath::Vector3::operator- ( const Vector3 & other ) const

inline

◆ operator-=()

void octomath::Vector3::operator-= ( const Vector3 & other )

inline

References data.

◆ operator/=()

void octomath::Vector3::operator/= ( float x )

inline

References data, and x().

◆ operator=()

Vector3& octomath::Vector3::operator= ( const Vector3 & other )

inline

Assignment operator.

Parameters

other a vector of dimension 3

References data.

◆ operator==()

bool octomath::Vector3::operator== ( const Vector3 & other ) const

inline

◆ pitch() [1/2]

float& octomath::Vector3::pitch ( )

inline

References operator()().

Referenced by octomath::Quaternion::Quaternion(), and rotate_IP().

◆ pitch() [2/2]

const float& octomath::Vector3::pitch ( ) const

inline

References operator()().

◆ read()

std::istream & octomath::Vector3::read ( std::istream & s )

Referenced by octomath::Pose6D::read(), and octomap::ScanNode::readPoseASCII().

◆ readBinary()

std::istream & octomath::Vector3::readBinary ( std::istream & s )

References operator()().

Referenced by octomap::Pointcloud::readBinary(), and octomath::Pose6D::readBinary().

◆ roll() [1/2]

float& octomath::Vector3::roll ( )

inline

References operator()().

Referenced by octomath::Quaternion::Quaternion(), and rotate_IP().

◆ roll() [2/2]

const float& octomath::Vector3::roll ( ) const

inline

References operator()().

◆ rotate_IP()

Vector3 & octomath::Vector3::rotate_IP	(	double	roll,
		double	pitch,
		double	yaw
	)

References pitch(), roll(), x(), y(), yaw(), and z().

Referenced by generateSphereTree(), and main().

◆ write()

std::ostream & octomath::Vector3::write ( std::ostream & s ) const

Referenced by octomath::Pose6D::write(), and octomap::ScanNode::writePoseASCII().

◆ writeBinary()

std::ostream & octomath::Vector3::writeBinary ( std::ostream & s ) const

References operator()().

Referenced by octomath::Pose6D::writeBinary().

◆ x() [1/2]

float& octomath::Vector3::x ( )

inline

References operator()().

Referenced by octomap::MapCollection< MAPNODE >::castRay(), cross(), distance(), distanceXY(), dot(), generateSphereTree(), octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >::getUnknownLeafCenters(), octomap::OccupancyOcTreeBase< OcTreeNodeStamped >::inBBX(), main(), norm_sq(), operator*(), operator*=(), operator/=(), octomath::operator<<(), octomath::Quaternion::Quaternion(), rotate_IP(), and Vector3().

◆ x() [2/2]

const float& octomath::Vector3::x ( ) const

inline

References operator()().

◆ y() [1/2]

float& octomath::Vector3::y ( )

inline

References operator()().

Referenced by octomap::MapCollection< MAPNODE >::castRay(), cross(), distance(), distanceXY(), dot(), octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >::getUnknownLeafCenters(), octomap::OccupancyOcTreeBase< OcTreeNodeStamped >::inBBX(), main(), norm_sq(), octomath::operator<<(), octomath::Quaternion::Quaternion(), rotate_IP(), and Vector3().

◆ y() [2/2]

const float& octomath::Vector3::y ( ) const

inline

References operator()().

◆ yaw() [1/2]

float& octomath::Vector3::yaw ( )

inline

References operator()().

Referenced by octomath::Quaternion::Quaternion(), and rotate_IP().

◆ yaw() [2/2]

const float& octomath::Vector3::yaw ( ) const

inline

References operator()().

◆ z() [1/2]

float& octomath::Vector3::z ( )

inline

References operator()().

Referenced by octomap::MapCollection< MAPNODE >::castRay(), cross(), distance(), dot(), octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >::getUnknownLeafCenters(), octomap::OccupancyOcTreeBase< OcTreeNodeStamped >::inBBX(), main(), norm_sq(), octomath::operator<<(), octomath::Quaternion::Quaternion(), rotate_IP(), and Vector3().

◆ z() [2/2]

const float& octomath::Vector3::z ( ) const

inline

References operator()().

Field Documentation

◆ data

float octomath::Vector3::data[3]

protected

Referenced by operator()(), operator*=(), operator+=(), operator-(), operator-=(), operator/=(), operator=(), and Vector3().

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

include/octomap/math/Vector3.h
src/math/Vector3.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Vector3() [1/3]

◆ Vector3() [2/3]

◆ Vector3() [3/3]

Member Function Documentation

◆ angleTo()

◆ cross()

◆ distance()

◆ distanceXY()

◆ dot()

◆ norm()

◆ norm_sq()

◆ normalize()

◆ normalized()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator*()

◆ operator*=()

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator/=()

◆ operator=()

◆ operator==()

◆ pitch() [1/2]

◆ pitch() [2/2]

◆ read()

◆ readBinary()

◆ roll() [1/2]

◆ roll() [2/2]

◆ rotate_IP()

◆ write()

◆ writeBinary()

◆ x() [1/2]

◆ x() [2/2]

◆ y() [1/2]

◆ y() [2/2]

◆ yaw() [1/2]

◆ yaw() [2/2]

◆ z() [1/2]

◆ z() [2/2]

Field Documentation

◆ data