A 3D vector class. More...

#include <vector3.h>

Collaboration diagram for argos::CVector3:

Public Member Functions
	CVector3 ()
	Class constructor. More...

	CVector3 (Real f_x, Real f_y, Real f_z)
	Class constructor. More...

	CVector3 (const std::array< Real, 3 > &arr_coordinates)
	Class constructor. More...

	CVector3 (Real f_length, const CRadians &c_inclination, const CRadians &c_azimuth)
	Class constructor. More...

Real	GetX () const
	Returns the x coordinate of this vector. More...

void	SetX (const Real f_x)
	Sets the x coordinate of this vector. More...

Real	GetY () const
	Returns the y coordinate of this vector. More...

void	SetY (const Real f_y)
	Sets the y coordinate of this vector. More...

Real	GetZ () const
	Returns the z coordinate of this vector. More...

void	SetZ (const Real f_z)
	Sets the z coordinate of this vector. More...

void	Set (const Real f_x, const Real f_y, const Real f_z)
	Sets the vector contents from Cartesian coordinates. More...

void	Set (const std::array< Real, 3 > &arr_coordinates)
	Sets the vector contents from Cartesian coordinates. More...

CVector3 &	FromSphericalCoords (Real f_length, const CRadians &c_inclination, const CRadians &c_azimuth)
	Sets the vector contents from spherical coordinates. More...

void	ToSphericalCoords (Real &f_radius, CRadians &c_inclination, CRadians &c_azimuth) const
	Returns the vector contents as spherical coordinates. More...

Real	SquareLength () const
	Returns the square length of this vector. More...

Real	Length () const
	Returns the length of this vector. More...

CVector3 &	Normalize ()
	Normalizes this vector. More...

CVector3 &	RotateX (const CRadians &c_angle)
	Rotates this vector wrt the x axis. More...

CVector3 &	RotateY (const CRadians &c_angle)
	Rotates this vector wrt the y axis. More...

CVector3 &	RotateZ (const CRadians &c_angle)
	Rotates this vector wrt the z axis. More...

CVector3 &	RotateZ (const CVector2 &c_vector)
	Rotates this vector wrt the z axis. More...

CVector3 &	Rotate (const CQuaternion &c_quaternion)
	Rotates this vector by the given quaternion. More...

CRadians	GetAngleWith (const CVector3 &c_other)
	Returns the angle between this vector and the passed vector. More...

CRadians	GetXAngle () const
	Returns the angle between this vector and the x axis. More...

CRadians	GetYAngle () const
	Returns the angle between this vector and the y axis. More...

CRadians	GetZAngle () const
	Returns the angle between this vector and the z axis. More...

Real	DotProduct (const CVector3 &c_vector3) const
	Returns the dot product between this vector and the passed one. More...

CVector3 &	CrossProduct (const CVector3 &c_vector3)
	Calculates the cross product between this vector and the passed one. More...

CVector2 &	ProjectOntoXY (CVector2 &c_proj) const
	Calculates the projection of this vector onto the xy plane. More...

CVector2 &	ProjectOntoYZ (CVector2 &c_proj) const
	Calculates the projection of this vector onto the yz plane. More...

CVector2 &	ProjectOntoXZ (CVector2 &c_proj) const
	Calculates the projection of this vector onto the xz plane. More...

CVector3 &	Negate ()
	Negates this vector. More...

Real	operator[] (UInt32 un_index) const
	Returns a Cartesian coordinate of this vector. More...

Real &	operator[] (UInt32 un_index)
	Returns a Cartesian coordinate of this vector. More...

bool	operator== (const CVector3 &c_vector3) const
	Returns `true` if this vector and the passed one are equal. More...

bool	operator!= (const CVector3 &c_vector3) const
	Returns `true` if this vector and the passed one are not equal. More...

bool	operator< (const CVector3 &c_vector3) const
	Returns `true` if this vector is smaller than the passed one. More...

bool	operator<= (const CVector3 &c_vector3) const
	Returns `true` if this vector is smaller than or equal to the passed one. More...

bool	operator> (const CVector3 &c_vector3) const
	Returns `true` if this vector is greater than the passed one. More...

bool	operator>= (const CVector3 &c_vector3) const
	Returns `true` if this vector is greater than or equal to the passed one. More...

CVector3	operator- () const
	Returns a negated copy of this vector. More...

CVector3 &	operator+= (const CVector3 &c_vector3)
	Sums the passed vector to this vector. More...

CVector3 &	operator-= (const CVector3 &c_vector3)
	Subtracts the passed vector from this vector. More...

CVector3 &	operator*= (Real f_value)
	Multiplies this vector by the given value. More...

CVector3 &	operator/= (Real f_value)
	Divides this vector by the given value. More...

CVector3	operator+ (const CVector3 &c_vector3) const
	Returns a new vector containing the sum between this vector and the passed one. More...

CVector3	operator- (const CVector3 &c_vector3) const
	Returns a new vector containing the subtraction between this vector and the passed one. More...

CVector3	operator* (Real f_value) const
	Returns a new vector containing the multiplication between this vector and the passed value. More...

CVector3	operator/ (const Real f_value) const
	Returns a new vector containing the division between this vector and the passed value. More...

	operator CMatrix< 1, 3 > () const
	Implict conversion to a row matrix. More...

	operator CMatrix< 3, 1 > () const
	Implict conversion to a column matrix. More...

Static Public Attributes
static const CVector3	X
	The x axis. More...

static const CVector3	Y
	The y axis. More...

static const CVector3	Z
	The z axis. More...

static const CVector3	ZERO
	The zero vector (0,0,0) More...

Detailed Description

A 3D vector class.

Definition at line 31 of file vector3.h.

Constructor & Destructor Documentation

◆ CVector3() [1/4]

argos::CVector3::CVector3 ( )

inline

Class constructor.

It initializes the vector to (0,0,0).

See also: ZERO

Definition at line 54 of file vector3.h.

◆ CVector3() [2/4]

argos::CVector3::CVector3	(	Real	f_x,
		Real	f_y,
		Real	f_z
	)

inline

Class constructor.

It initializes the vector from Cartesian coordinates.

Parameters

f_x	The x coordinate.
f_y	The y coordinate.
f_z	The z coordinate.

See also: Set()

Definition at line 68 of file vector3.h.

◆ CVector3() [3/4]

argos::CVector3::CVector3 ( const std::array< Real, 3 > & arr_coordinates )

inline

Class constructor.

It initializes the vector from Cartesian coordinates.

Parameters

arr_coordinates The coordinates.

See also: Set()

Definition at line 82 of file vector3.h.

◆ CVector3() [4/4]

argos::CVector3::CVector3	(	Real	f_length,
		const CRadians &	c_inclination,
		const CRadians &	c_azimuth
	)

inline

Class constructor.

It initializes the vector from spherical coordinates.

Parameters

f_length	The length of the vector.
c_inclination	The angle between the z axis and the vector (range [-pi,pi])
c_azimuth	The angle on the xy plane (range [0,2pi])

See also: FromSphericalCoords(); ToSphericalCoords()

Definition at line 95 of file vector3.h.

Member Function Documentation

◆ CrossProduct()

CVector3& argos::CVector3::CrossProduct ( const CVector3 & c_vector3 )

inline

Calculates the cross product between this vector and the passed one.

This method modifies this vector.

Parameters

c_vector3 The other vector.

Returns: A reference to this vector.

Definition at line 382 of file vector3.h.

◆ DotProduct()

Real argos::CVector3::DotProduct ( const CVector3 & c_vector3 ) const

inline

Returns the dot product between this vector and the passed one.

Parameters

c_vector3 The other vector.

Returns: The dot product between this vector and the passed one.

Definition at line 369 of file vector3.h.

◆ FromSphericalCoords()

CVector3& argos::CVector3::FromSphericalCoords	(	Real	f_length,
		const CRadians &	c_inclination,
		const CRadians &	c_azimuth
	)

inline

Sets the vector contents from spherical coordinates.

Parameters

f_length	The length of the vector.
c_inclination	The angle between the z axis and the vector (range [-pi,pi])
c_azimuth	The angle on the xy plane (range [0,2pi])

See also: ToSphericalCoords()

Definition at line 180 of file vector3.h.

◆ GetAngleWith()

CRadians argos::CVector3::GetAngleWith ( const CVector3 & c_other )

inline

Returns the angle between this vector and the passed vector.

Parameters

c_other The other vector.

Returns: The angle between this vector and the passed vector.

Definition at line 335 of file vector3.h.

◆ GetX()

Real argos::CVector3::GetX ( ) const

inline

Returns the x coordinate of this vector.

Returns: The x coordinate of this vector.

Definition at line 105 of file vector3.h.

◆ GetXAngle()

CRadians argos::CVector3::GetXAngle ( ) const

inline

Returns the angle between this vector and the x axis.

Returns: The angle between this vector and the x axis.

Definition at line 344 of file vector3.h.

◆ GetY()

Real argos::CVector3::GetY ( ) const

inline

Returns the y coordinate of this vector.

Returns: The y coordinate of this vector.

Definition at line 121 of file vector3.h.

◆ GetYAngle()

CRadians argos::CVector3::GetYAngle ( ) const

inline

Returns the angle between this vector and the y axis.

Returns: The angle between this vector and the y axis.

Definition at line 352 of file vector3.h.

◆ GetZ()

Real argos::CVector3::GetZ ( ) const

inline

Returns the z coordinate of this vector.

Returns: The z coordinate of this vector.

Definition at line 137 of file vector3.h.

◆ GetZAngle()

CRadians argos::CVector3::GetZAngle ( ) const

inline

Returns the angle between this vector and the z axis.

Returns: The angle between this vector and the z axis.

Definition at line 360 of file vector3.h.

◆ Length()

Real argos::CVector3::Length ( ) const

inline

Returns the length of this vector.

Returns: The length of this vector.

Definition at line 227 of file vector3.h.

◆ Negate()

CVector3& argos::CVector3::Negate ( )

inline

Negates this vector.

After this method is called, this vector contains (-x,-y,-z).

Returns: A reference to this vector.

Definition at line 428 of file vector3.h.

◆ Normalize()

CVector3& argos::CVector3::Normalize ( )

inline

Normalizes this vector.

After this method is called, the vector has length 1. If the vector is (0,0,0), this call results in a division by zero error.

Returns: A reference to this vector.

Definition at line 237 of file vector3.h.

◆ operator CMatrix< 1, 3 >()

argos::CVector3::operator CMatrix< 1, 3 > ( ) const

inline

Implict conversion to a row matrix.

Definition at line 634 of file vector3.h.

◆ operator CMatrix< 3, 1 >()

argos::CVector3::operator CMatrix< 3, 1 > ( ) const

inline

Implict conversion to a column matrix.

Definition at line 645 of file vector3.h.

◆ operator!=()

bool argos::CVector3::operator!= ( const CVector3 & c_vector3 ) const

inline

Returns true if this vector and the passed one are not equal.

This method checks all the coordinates for equality.

Parameters

c_vector3 The other vector.

Returns: true if this vector and the passed one are not equal.

Definition at line 483 of file vector3.h.

◆ operator*()

CVector3 argos::CVector3::operator* ( Real f_value ) const

inline

Returns a new vector containing the multiplication between this vector and the passed value.

Parameters

f_value The wanted value.

Returns: A new vector containing the multiplication between this vector and the passed value.

Definition at line 614 of file vector3.h.

◆ operator*=()

CVector3& argos::CVector3::operator*= ( Real f_value )

inline

Multiplies this vector by the given value.

Parameters

f_value The wanted value.

Returns: A reference to this vector.

Definition at line 568 of file vector3.h.

◆ operator+()

CVector3 argos::CVector3::operator+ ( const CVector3 & c_vector3 ) const

inline

Returns a new vector containing the sum between this vector and the passed one.

Parameters

c_vector3 The other vector.

Returns: A new vector containing the sum between this vector and the passed one.

Definition at line 592 of file vector3.h.

◆ operator+=()

CVector3& argos::CVector3::operator+= ( const CVector3 & c_vector3 )

inline

Sums the passed vector to this vector.

Parameters

c_vector3 The other vector.

Returns: A reference to this vector.

Definition at line 544 of file vector3.h.

◆ operator-() [1/2]

CVector3 argos::CVector3::operator- ( ) const

inline

Returns a negated copy of this vector.

Returns: A negated copy of this vector.

Definition at line 535 of file vector3.h.

◆ operator-() [2/2]

CVector3 argos::CVector3::operator- ( const CVector3 & c_vector3 ) const

inline

Returns a new vector containing the subtraction between this vector and the passed one.

Parameters

c_vector3 The other vector.

Returns: A new vector containing the subtraction between this vector and the passed one.

Definition at line 603 of file vector3.h.

◆ operator-=()

CVector3& argos::CVector3::operator-= ( const CVector3 & c_vector3 )

inline

Subtracts the passed vector from this vector.

Parameters

c_vector3 The other vector.

Returns: A reference to this vector.

Definition at line 556 of file vector3.h.

◆ operator/()

CVector3 argos::CVector3::operator/ ( const Real f_value ) const

inline

Returns a new vector containing the division between this vector and the passed value.

Parameters

f_value The wanted value.

Returns: A new vector containing the division between this vector and the passed value.

Definition at line 625 of file vector3.h.

◆ operator/=()

CVector3& argos::CVector3::operator/= ( Real f_value )

inline

Divides this vector by the given value.

Parameters

f_value The wanted value.

Returns: A reference to this vector.

Definition at line 580 of file vector3.h.

◆ operator<()

bool argos::CVector3::operator< ( const CVector3 & c_vector3 ) const

inline

Returns true if this vector is smaller than the passed one.

This method checks all the coordinates, and returns true only if the condition is true for all of them.

Parameters

c_vector3 The other vector.

Returns: true if this vector is smaller than the passed one.

Definition at line 494 of file vector3.h.

◆ operator<=()

bool argos::CVector3::operator<= ( const CVector3 & c_vector3 ) const

inline

Returns true if this vector is smaller than or equal to the passed one.

This method checks all the coordinates, and returns true only if the condition is true for all of them.

Parameters

c_vector3 The other vector.

Returns: true if this vector is smaller than or equal to the passed one.

Definition at line 505 of file vector3.h.

◆ operator==()

bool argos::CVector3::operator== ( const CVector3 & c_vector3 ) const

inline

Returns true if this vector and the passed one are equal.

This method checks all the coordinates for equality.

Parameters

c_vector3 The other vector.

Returns: true if this vector and the passed one are equal.

Definition at line 473 of file vector3.h.

◆ operator>()

bool argos::CVector3::operator> ( const CVector3 & c_vector3 ) const

inline

Returns true if this vector is greater than the passed one.

This method checks all the coordinates, and returns true only if the condition is true for all of them.

Parameters

c_vector3 The other vector.

Returns: true if this vector is greater than the passed one.

Definition at line 516 of file vector3.h.

◆ operator>=()

bool argos::CVector3::operator>= ( const CVector3 & c_vector3 ) const

inline

Returns true if this vector is greater than or equal to the passed one.

This method checks all the coordinates, and returns true only if the condition is true for all of them.

Parameters

c_vector3 The other vector.

Returns: true if this vector is greater than or equal to the passed one.

Definition at line 527 of file vector3.h.

◆ operator[]() [1/2]

Real& argos::CVector3::operator[] ( UInt32 un_index )

inline

Returns a Cartesian coordinate of this vector.

This method returns the value by reference.

Parameters

un_index The desired coordinate, with 0 mapping to x, 1 mapping to y, and 2 mapping to z.

Returns: A Cartesian coordinate of this vector.

Exceptions

CARGoSException if the given index is out of bounds.

Definition at line 458 of file vector3.h.

◆ operator[]() [2/2]

Real argos::CVector3::operator[] ( UInt32 un_index ) const

inline

Returns a Cartesian coordinate of this vector.

This method returns the value by copy.

Parameters

un_index The desired coordinate, with 0 mapping to x, 1 mapping to y, and 2 mapping to z.

Returns: A Cartesian coordinate of this vector.

Exceptions

CARGoSException if the given index is out of bounds.

Definition at line 442 of file vector3.h.

◆ ProjectOntoXY()

CVector2& argos::CVector3::ProjectOntoXY ( CVector2 & c_proj ) const

inline

Calculates the projection of this vector onto the xy plane.

Parameters

c_proj A 2d vector to use as buffer.

Returns: A reference to the passed 2d vector buffer.

Definition at line 398 of file vector3.h.

◆ ProjectOntoXZ()

CVector2& argos::CVector3::ProjectOntoXZ ( CVector2 & c_proj ) const

inline

Calculates the projection of this vector onto the xz plane.

Parameters

c_proj A 2d vector to use as buffer.

Returns: A reference to the passed 2d vector buffer.

Definition at line 418 of file vector3.h.

◆ ProjectOntoYZ()

CVector2& argos::CVector3::ProjectOntoYZ ( CVector2 & c_proj ) const

inline

Calculates the projection of this vector onto the yz plane.

Parameters

c_proj A 2d vector to use as buffer.

Returns: A reference to the passed 2d vector buffer.

Definition at line 408 of file vector3.h.

◆ Rotate()

CVector3 & argos::CVector3::Rotate ( const CQuaternion & c_quaternion )

Rotates this vector by the given quaternion.

Parameters

c_quaternion The quaternion to use.

Returns: A reference to this vector.

See also: CQuaternion

Definition at line 23 of file vector3.cpp.

◆ RotateX()

CVector3& argos::CVector3::RotateX ( const CRadians & c_angle )

inline

Rotates this vector wrt the x axis.

Parameters

c_angle The rotation angle.

Returns: A reference to this vector.

Definition at line 247 of file vector3.h.

◆ RotateY()

CVector3& argos::CVector3::RotateY ( const CRadians & c_angle )

inline

Rotates this vector wrt the y axis.

Parameters

c_angle The rotation angle.

Returns: A reference to this vector.

Definition at line 267 of file vector3.h.

◆ RotateZ() [1/2]

CVector3& argos::CVector3::RotateZ ( const CRadians & c_angle )

inline

Rotates this vector wrt the z axis.

Parameters

c_angle The rotation angle.

Returns: A reference to this vector.

Definition at line 287 of file vector3.h.

◆ RotateZ() [2/2]

CVector3& argos::CVector3::RotateZ ( const CVector2 & c_vector )

inline

Rotates this vector wrt the z axis.

This method rotates the vector wrt to the z axis using a 2d vector that is expected to contain: (cos(angle), sin(angle)). This method is mostly useful when you must rotate a lot of vectors by the same angle. You calculate the angle's cosine and sine, store it, and using multiple times. For speed reasons, no checks are performed - be sure you feed this method the right values.

Parameters

c_vector The precalculated cosine and sine of the rotation angle.

Returns: A reference to this vector.

See also: RotateZ(const CRadians&)

Definition at line 314 of file vector3.h.

◆ Set() [1/2]

void argos::CVector3::Set	(	const Real	f_x,
		const Real	f_y,
		const Real	f_z
	)

inline

Sets the vector contents from Cartesian coordinates.

Parameters

f_x	The new x coordinate of this vector.
f_y	The new y coordinate of this vector.
f_z	The new z coordinate of this vector.

Definition at line 155 of file vector3.h.

◆ Set() [2/2]

void argos::CVector3::Set ( const std::array< Real, 3 > & arr_coordinates )

inline

Sets the vector contents from Cartesian coordinates.

Parameters

arr_coordinates The new coordinates.

Definition at line 167 of file vector3.h.

◆ SetX()

void argos::CVector3::SetX ( const Real f_x )

inline

Sets the x coordinate of this vector.

Parameters

f_x	The new x coordinate of this vector.

Definition at line 113 of file vector3.h.

◆ SetY()

void argos::CVector3::SetY ( const Real f_y )

inline

Sets the y coordinate of this vector.

Parameters

f_y	The new y coordinate of this vector.

Definition at line 129 of file vector3.h.

◆ SetZ()

void argos::CVector3::SetZ ( const Real f_z )

inline

Sets the z coordinate of this vector.

Parameters

f_z	The new z coordinate of this vector.

Definition at line 145 of file vector3.h.

◆ SquareLength()

Real argos::CVector3::SquareLength ( ) const

inline

Returns the square length of this vector.

Returns: The square length of this vector.

Definition at line 219 of file vector3.h.

◆ ToSphericalCoords()

void argos::CVector3::ToSphericalCoords	(	Real &	f_radius,
		CRadians &	c_inclination,
		CRadians &	c_azimuth
	)		const

inline

Returns the vector contents as spherical coordinates.

Parameters

f_length	A buffer for the length of the vector.
c_inclination	A buffer for the angle between the z axis and the vector (range [-pi,pi])
c_azimuth	A buffer for the angle on the xy plane (range [0,2pi])

See also: FromSphericalCoords()

Definition at line 207 of file vector3.h.

Member Data Documentation

◆ X

const CVector3 argos::CVector3::X

static

The x axis.

Definition at line 36 of file vector3.h.

◆ Y

const CVector3 argos::CVector3::Y

static

The y axis.

Definition at line 39 of file vector3.h.

◆ Z

const CVector3 argos::CVector3::Z

static

The z axis.

Definition at line 42 of file vector3.h.

◆ ZERO

const CVector3 argos::CVector3::ZERO

static

The zero vector (0,0,0)

Definition at line 45 of file vector3.h.

Public Member Functions

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CVector3() [1/4]

◆ CVector3() [2/4]

◆ CVector3() [3/4]

◆ CVector3() [4/4]

Member Function Documentation

◆ CrossProduct()

◆ DotProduct()

◆ FromSphericalCoords()

◆ GetAngleWith()

◆ GetX()

◆ GetXAngle()

◆ GetY()

◆ GetYAngle()

◆ GetZ()

◆ GetZAngle()

◆ Length()

◆ Negate()

◆ Normalize()

◆ operator CMatrix< 1, 3 >()

◆ operator CMatrix< 3, 1 >()

◆ operator!=()

◆ operator*()

◆ operator*=()

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator/()

◆ operator/=()

◆ operator<()

◆ operator<=()

◆ operator==()

◆ operator>()

◆ operator>=()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ ProjectOntoXY()

◆ ProjectOntoXZ()

◆ ProjectOntoYZ()

◆ Rotate()

◆ RotateX()

◆ RotateY()

◆ RotateZ() [1/2]

◆ RotateZ() [2/2]

◆ Set() [1/2]

◆ Set() [2/2]

◆ SetX()

◆ SetY()

◆ SetZ()

◆ SquareLength()

◆ ToSphericalCoords()

Member Data Documentation

◆ X

◆ Y

◆ Z

◆ ZERO