Create and play with a Velocity6D. More...

#include <alvelocity6d.h>

Public Member Functions
	Velocity6D ()
	Create a Velocity6D initialize with 0.0f. More...

	Velocity6D (float pInit)
	Create a Velocity6D initialize with the same float. More...

	Velocity6D (float pXd, float pYd, float pZd, float pWxd, float pWyd, float pWzd)
	Create a Velocity6D initialize with explicit value. More...

	Velocity6D (const std::vector< float > &pFloats)
	Create a Velocity6D with an std::vector. More...

Velocity6D	operator+ (const Velocity6D &pVel2) const
	Overloading of operator + for Velocity6D. More...

Velocity6D	operator- (const Velocity6D &pVel2) const
	Overloading of operator - for Velocity6D. More...

Velocity6D	operator+ (void) const
	Overloading of operator + for Velocity6D. More...

Velocity6D	operator- () const
	Overloading of operator - for Velocity6D. More...

Velocity6D	operator* (const float pVal) const
	Overloading of operator * for Velocity6D. More...

Velocity6D	operator/ (const float pVal) const
	Overloading of operator / for Velocity6D. More...

bool	operator== (const Velocity6D &pVel2) const
	Overloading of operator == for Velocity6D. More...

bool	operator!= (const Velocity6D &pVel2) const
	Overloading of operator != for Velocity6D. More...

Velocity6D &	operator*= (const float pVal)
	Overloading of operator *= for Velocity6D. More...

Velocity6D &	operator/= (const float pVal)
	Overloading of operator /= for Velocity6D. More...

bool	isNear (const Velocity6D &pVel2, const float &pEpsilon=0.0001f) const
	Check if the actual Velocity6D is Near the one given in argument. More...

float	norm () const
	Compute the norm of the actual Velocity6D: More...

Velocity6D	normalize () const
	Normalize the actual Velocity6D: More...

void	toVector (std::vector< float > &pReturnVector) const
	Return the Velocity6D as a vector of float [xd, yd, zd, wxd, wyd, wzd]. More...

std::vector< float >	toVector (void) const

void	writeToVector (std::vector< float >::iterator &pIt) const
	Write [xd, yd, zd, wxd, wyd, wzd] in the vector and update the iterator. It is assumed the vector has enough space. More...

Public Attributes
float	xd

float	yd

float	zd

float	wxd

float	wyd

float	wzd

Detailed Description

Create and play with a Velocity6D.

A Velocity6D is just defined by xd, yd, zd, wxd, wyd and wzd.

Definition at line 25 of file alvelocity6d.h.

Constructor & Destructor Documentation

AL::Math::Velocity6D::Velocity6D ( )

Create a Velocity6D initialize with 0.0f.

$\left[\begin{array}{c} xd \\ yd \\ zd \\ wxd \\ wyd \\ wzd \end{array}\right] = \left[\begin{array}{c} 0.0 \\ 0.0 \\ 0.0 \\ 0.0 \\ 0.0 \\ 0.0 \end{array}\right]$

AL::Math::Velocity6D::Velocity6D ( float pInit )

explicit

Create a Velocity6D initialize with the same float.

$\left[\begin{array}{c} xd \\ yd \\ zd \\ wxd \\ wyd \\ wzd \end{array}\right] = \left[\begin{array}{c} pInit \\ pInit \\ pInit \\ pInit \\ pInit \\ pInit \end{array}\right]$

Parameters

pInit the float value for each member

AL::Math::Velocity6D::Velocity6D	(	float	pXd,
		float	pYd,
		float	pZd,
		float	pWxd,
		float	pWyd,
		float	pWzd
	)

Create a Velocity6D initialize with explicit value.

$\left[\begin{array}{c} xd \\ yd \\ zd \\ wxd \\ wyd \\ wzd \end{array}\right] = \left[\begin{array}{c} pXd \\ pYd \\ pZd \\ pWxd \\ pWyd \\ pWzd \end{array}\right]$

Parameters

pXd	the float value for xd
pYd	the float value for yd
pZd	the float value for zd
pWxd	the float value for wxd
pWyd	the float value for wyd
pWzd	the float value for wzd

AL::Math::Velocity6D::Velocity6D ( const std::vector< float > & pFloats )

Create a Velocity6D with an std::vector.

$\left[\begin{array}{c} xd \\ yd \\ zd \\ wxd \\ wyd \\ wzd \end{array}\right] = \left[\begin{array}{c} pFloats[0] \\ pFloats[1] \\ pFloats[2] \\ pFloats[3] \\ pFloats[4] \\ pFloats[5] \end{array}\right]$

Parameters

pFloats An std::vector<float> of size 6 for respectively:

xd, yd, zd, wxd, wyd and wzd

Member Function Documentation

bool AL::Math::Velocity6D::isNear	(	const Velocity6D &	pVel2,
		const float &	pEpsilon = `0.0001f`
	)		const

Check if the actual Velocity6D is Near the one given in argument.

Parameters

pVel2	the second Velocity6D
pEpsilon	an optional epsilon distance

Returns: true if the difference of each float of the two Velocity6D is less than pEpsilon

float AL::Math::Velocity6D::norm ( ) const

Compute the norm of the actual Velocity6D:

$\sqrt{xd^2 + yd^2 + zd^2 + wxd^2 + wyd^2 + wzd^2}$

Returns: the float norm of the Velocity6D

Velocity6D AL::Math::Velocity6D::normalize ( ) const

Normalize the actual Velocity6D:

$result = \frac{pVel}{norm(pVel)}$

Returns: the Velocity6D normalized

bool AL::Math::Velocity6D::operator!= ( const Velocity6D & pVel2 ) const

Overloading of operator != for Velocity6D.

Parameters

pVel2 the second Velocity6D.

Velocity6D AL::Math::Velocity6D::operator* ( const float pVal ) const

inline

Overloading of operator * for Velocity6D.

Parameters

pVal	the float factor.

Definition at line 204 of file alvelocity6d.h.

Velocity6D& AL::Math::Velocity6D::operator*= ( const float pVal )

Overloading of operator *= for Velocity6D.

Parameters

pVal	the float factor.

Velocity6D AL::Math::Velocity6D::operator+ ( const Velocity6D & pVel2 ) const

inline

Overloading of operator + for Velocity6D.

Parameters

pVel2 the second Velocity6D

Definition at line 158 of file alvelocity6d.h.

Velocity6D AL::Math::Velocity6D::operator+ ( void ) const

inline

Overloading of operator + for Velocity6D.

Definition at line 187 of file alvelocity6d.h.

Velocity6D AL::Math::Velocity6D::operator- ( const Velocity6D & pVel2 ) const

inline

Overloading of operator - for Velocity6D.

Parameters

pVel2 the second Velocity6D

Definition at line 173 of file alvelocity6d.h.

Velocity6D AL::Math::Velocity6D::operator- ( ) const

inline

Overloading of operator - for Velocity6D.

Definition at line 195 of file alvelocity6d.h.

Velocity6D AL::Math::Velocity6D::operator/ ( const float pVal ) const

Overloading of operator / for Velocity6D.

Parameters

pVal	the float factor.

Velocity6D& AL::Math::Velocity6D::operator/= ( const float pVal )

Overloading of operator /= for Velocity6D.

Parameters

pVal	the float factor.

bool AL::Math::Velocity6D::operator== ( const Velocity6D & pVel2 ) const

Overloading of operator == for Velocity6D.

Parameters

pVel2 the second Velocity6D.

void AL::Math::Velocity6D::toVector ( std::vector< float > & pReturnVector ) const

Return the Velocity6D as a vector of float [xd, yd, zd, wxd, wyd, wzd].

std::vector<float> AL::Math::Velocity6D::toVector ( void ) const

void AL::Math::Velocity6D::writeToVector ( std::vector< float >::iterator & pIt ) const

Write [xd, yd, zd, wxd, wyd, wzd] in the vector and update the iterator. It is assumed the vector has enough space.

Member Data Documentation

float AL::Math::Velocity6D::wxd

Definition at line 33 of file alvelocity6d.h.

float AL::Math::Velocity6D::wyd

Definition at line 35 of file alvelocity6d.h.

float AL::Math::Velocity6D::wzd

Definition at line 37 of file alvelocity6d.h.

float AL::Math::Velocity6D::xd

Definition at line 27 of file alvelocity6d.h.

float AL::Math::Velocity6D::yd

Definition at line 29 of file alvelocity6d.h.

float AL::Math::Velocity6D::zd

Definition at line 31 of file alvelocity6d.h.

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

/home/opennao/work/release-2.8/lib/libalmath/almath/types/alvelocity6d.h

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation