Vector2D< T > Class Template Reference

A 2D vector \( \mathbf{v}\in \mathbb{R}^2 \). More...

#include <Vector2D.hpp>

Public Types
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 Eigen::MatrixBase< R > &r)
	Creates a 2D vector from Eigen Vector. More...
	Vector2D (const Vector2D< T > &copy)
	Copy Constructor.
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...
const Vector2D< T >	operator/ (T s) const
	Scalar division.
const Vector2D< T >	operator* (T s) const
	Scalar multiplication.
const Vector2D< T >	operator- (const Vector2D< T > &b) const
	Vector subtraction.
const Vector2D< T >	operator+ (const Vector2D< T > &b) const
	Vector addition.
Vector2D< T > &	operator*= (T s)
	Scalar multiplication.
Vector2D< T > &	operator/= (T s)
	Scalar division.
Vector2D< T > &	operator+= (const Vector2D< T > &v)
	Vector addition.
Vector2D< T > &	operator-= (const Vector2D< T > &v)
	Vector subtraction.
const Vector2D< T >	operator- () const
	Unary minus.
bool	operator== (const Vector2D< T > &b) const
	Compares a and b for equality. More...
bool	operator!= (const Vector2D< T > &b) const
	Compares a and b for inequality. More...
double	angle () const
	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]
T	norm2 () const
	Returns the Euclidean norm (2-norm) of the vector. More...
T	norm1 () const
	Returns the Manhatten norm (1-norm) of the vector. More...
T	normInf () const
	Returns the infinte norm ( \(\inf\)-norm) of the vector. More...

Friends
const Vector2D< T >	operator* (T s, const Vector2D< T > &v)
	Scalar multiplication.
std::ostream &	operator<< (std::ostream &out, const Vector2D< T > &v)
	Streaming operator.

Related Functions
(Note that these are not member functions.)
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 \( \mathbf{v}\in \mathbb{R}^2 \).

\( \robabx{i}{j}{\mathbf{v}} = \left[ \begin{array}{c} v_x \\ v_y \end{array} \right] \)

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;

Constructor & Destructor Documentation

Vector2D() [1/2]

Vector2D ( T  x, T  y  )

inline

Creates a 2D vector.

Parameters

x	[in] \( x \)
y	[in] \( y \)

Vector2D() [2/2]

Vector2D ( const Eigen::MatrixBase< R > &  r )

inline

Creates a 2D vector from Eigen Vector.

Parameters

r	[in] an Eigen Vector

Member Function Documentation

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 ( \(\inf\)-norm) of the vector.

Returns

the norm

operator!=()

bool operator!= ( const Vector2D< T > &  b ) const

inline

Compares a and b for inequality.

Parameters

b

[in]

Returns

True if a and b are different, false otherwise.

operator()() [1/2]

T& operator() ( size_t  i )

inline

Returns reference to vector element.

Parameters

i	[in] index in the vector \(i\in \{0,1\} \)

Returns

reference to element

operator()() [2/2]

const T& operator() ( size_t  i ) const

inline

Returns reference to vector element.

Parameters

i	[in] index in the vector \(i\in \{0,1\} \)

Returns

const reference to element

operator==()

bool operator== ( const Vector2D< T > &  b ) const

inline

Compares a and b for equality.

Parameters

b

[in]

Returns

True if a equals b, false otherwise.

operator[]() [1/2]

T& operator[] ( size_t  i )

inline

Returns reference to vector element.

Parameters

i	[in] index in the vector \(i\in \{0,1,2\} \)

Returns

reference to element

operator[]() [2/2]

const T& operator[] ( size_t  i ) const

inline

Returns reference to vector element.

Parameters

i	[in] index in the vector \(i\in \{0,1,2\} \)

Returns

const 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

read() [1/2]

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

related

Enable read-serialization of class T by overloading this method. Data is read from iarchive and filled into sobject.

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.

read() [2/2]

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

related

Enable read-serialization of class T by overloading this method. Data is read from iarchive and filled into sobject.

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.

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

• core/math_fwd.hpp
• Vector2D.hpp