RobWorkProject  0.7.0
Vector2D< T > Class Template Reference

A 2D vector . More...

#include <Vector2D.hpp>

## Public Types

typedef boost::numeric::ublas::bounded_vector< T, 2 > BoostVector2D
Boost based Vector2D.

typedef Eigen::Matrix< T, 2, 1 > EigenVector2D
Eigen based Vector2D.

typedef T value_type
Value type.

## Public Member Functions

Vector2D ()
Creates a 2D vector initialized with 0's.

Vector2D (T x, T y)
Creates a 2D vector. More...

template<class R >
Vector2D (const boost::numeric::ublas::vector_expression< R > &r)
Creates a 2D vector from vector_expression. More...

BoostVector2D m () const
Returns Boost vector equivalent to *this.

EigenVector2D e () const
Returns Eigen vector equivalent to *this.

size_t size () const
The dimension of the vector (i.e. 2). More...

const T & operator() (size_t i) const
Returns reference to vector element. More...

T & operator() (size_t i)
Returns reference to vector element. More...

const T & operator[] (size_t i) const
Returns reference to vector element. More...

T & operator[] (size_t i)
Returns reference to vector element. More...

Vector2D< T > & operator*= (T s)
Scalar multiplication.

Vector2D< T > & operator/= (T s)
Scalar division.

Vector2D< T > & operator+= (const Vector2D< T > &v)

Vector2D< T > & operator-= (const Vector2D< T > &v)
Vector subtraction.

const Vector2D< T > operator- () const
Unary minus.

double angle ()
returns the counter clock-wise angle between this vector and the x-axis vector (1,0). The angle returned will be in the interval [-Pi,Pi]

norm2 () const
Returns the Euclidean norm (2-norm) of the vector. More...

norm1 () const
Returns the Manhatten norm (1-norm) of the vector. More...

normInf () const
Returns the infinte norm ( -norm) of the vector. More...

## Friends

const Vector2D< T > operator/ (const Vector2D< T > &v, T s)
Scalar division.

const Vector2D< T > operator* (const Vector2D< T > &v, T s)
Scalar multiplication.

const Vector2D< T > operator* (T s, const Vector2D< T > &v)
Scalar multiplication.

const Vector2D< T > operator- (const Vector2D< T > &a, const Vector2D< T > &b)
Vector subtraction.

const Vector2D< T > operator+ (const Vector2D< T > &a, const Vector2D< T > &b)

std::ostream & operator<< (std::ostream &out, const Vector2D< T > &v)
Streaming operator.

## Related Functions

(Note that these are not member functions.)

template<class T >
bool operator== (const Vector2D< T > &a, const Vector2D< T > &b)
Compares a and b for equality. More...

template<class T >
bool operator!= (const Vector2D< T > &a, const Vector2D< T > &b)
Compares a and b for inequality. More...

template<>
void write (const rw::math::Vector2D< double > &sobject, rw::common::OutputArchive &oarchive, const std::string &id)

template<>
void write (const rw::math::Vector2D< float > &sobject, rw::common::OutputArchive &oarchive, const std::string &id)

template<>
void read (rw::math::Vector2D< double > &sobject, rw::common::InputArchive &iarchive, const std::string &id)

template<>
void read (rw::math::Vector2D< float > &sobject, rw::common::InputArchive &iarchive, const std::string &id)

template<class Archive , class T >
void serialize (Archive &archive, rw::math::Vector2D< T > &vector, const unsigned int version)
Boost serialization. More...

## Detailed Description

### template<class T = double> class rw::math::Vector2D< T >

A 2D vector .

In addition, Vector2D supports the cross product operator: v3 = cross(v1, v2)

Usage example:

using namespace rw::math;
Vector2D<> v1(1.0, 2.0);
Vector2D<> v2(6.0, 7.0);
Vector2D<> v3 = cross( v1, v2 );
Vector2D<> v4 = v2 - v1;

## ◆ Vector2D() [1/2]

 Vector2D ( T x, T y )
inline

Creates a 2D vector.

Parameters
 x [in] y [in]

## ◆ Vector2D() [2/2]

 Vector2D ( const boost::numeric::ublas::vector_expression< R > & r )
inline

Creates a 2D vector from vector_expression.

Parameters
 r [in] an ublas vector_expression

## ◆ norm1()

 T norm1 ( ) const
inline

Returns the Manhatten norm (1-norm) of the vector.

Returns
the norm

## ◆ norm2()

 T norm2 ( ) const
inline

Returns the Euclidean norm (2-norm) of the vector.

Returns
the norm

## ◆ normInf()

 T normInf ( ) const
inline

Returns the infinte norm ( -norm) of the vector.

Returns
the norm

## ◆ operator()() [1/2]

 const T& operator() ( size_t i ) const
inline

Returns reference to vector element.

Parameters
 i [in] index in the vector
Returns
const reference to element

## ◆ operator()() [2/2]

 T& operator() ( size_t i )
inline

Returns reference to vector element.

Parameters
 i [in] index in the vector
Returns
reference to element

## ◆ operator[]() [1/2]

 const T& operator[] ( size_t i ) const
inline

Returns reference to vector element.

Parameters
 i [in] index in the vector
Returns
const reference to element

## ◆ operator[]() [2/2]

 T& operator[] ( size_t i )
inline

Returns reference to vector element.

Parameters
 i [in] index in the vector
Returns
reference to element

## ◆ size()

 size_t size ( ) const
inline

The dimension of the vector (i.e. 2).

This method is provided to help support generic algorithms using size() and operator[].

## Friends And Related Function Documentation

 void read ( rw::math::Vector2D< double > & sobject, rw::common::InputArchive & iarchive, const std::string & id )
related

Parameters
 sobject [out] the object in which the data should be streamed into iarchive [in] the InputArchive from which to read data. id [in] The id of the serialized sobject.
Note
the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

 void read ( rw::math::Vector2D< float > & sobject, rw::common::InputArchive & iarchive, const std::string & id )
related

Parameters
 sobject [out] the object in which the data should be streamed into iarchive [in] the InputArchive from which to read data. id [in] The id of the serialized sobject.
Note
the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

## ◆ serialize()

 void serialize ( Archive & archive, rw::math::Vector2D< T > & vector, const unsigned int version )
related

Boost serialization.

Parameters
 archive [in] the boost archive to read from or write to. vector [in/out] the vector to read/write. version [in] class version (currently version 0).

## ◆ write() [1/2]

 void write ( const rw::math::Vector2D< double > & sobject, rw::common::OutputArchive & oarchive, const std::string & id )
related

Enable write-serialization of class T by overloading this method. Data is written to oarchive from the sobject.

Parameters
 sobject [in] the object from which the data should be streamed. oarchive [out] the OutputArchive in which data should be written. id [in] The id of the serialized sobject.
Note
the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

## ◆ write() [2/2]

 void write ( const rw::math::Vector2D< float > & sobject, rw::common::OutputArchive & oarchive, const std::string & id )
related

Enable write-serialization of class T by overloading this method. Data is written to oarchive from the sobject.

Parameters
 sobject [in] the object from which the data should be streamed. oarchive [out] the OutputArchive in which data should be written. id [in] The id of the serialized sobject.
Note
the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

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