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ml::Tvec3< DT > Class Template Reference

Forward declarations to resolve header file dependencies. More...

#include <mlVector3.h>

Inheritance diagram for ml::Tvec3< DT >:
ml::FloatingPointVector< DT, 3, Vector3DataContainer< DT > > ml::Vector3DataContainer< DT >

Public Types

typedef FloatingPointVector< DT, 3, Vector3DataContainer< DT > > Superclass
 A typedef as a shorthand for the base class.
 
typedef DT ComponentType
 A typedef to "export" the type of components.
 
- Public Types inherited from ml::FloatingPointVector< DT, 3, Vector3DataContainer< DT > >
enum  
 This enum grants access to the size during compile time, e.g. More...
 
typedef DT ComponentType
 A typedef to "export" the type of components.
 

Public Member Functions

void assign (const DT px, const DT py, const DT pz)
 Sets all components to the passed values.
 
Tvec3< DT > divideByLastComp () const
 Divides all vector components by its last component and returns it as Tvec3 which then has a 1 as last component.
 
Tvec4< DT > affineVec () const
 Builds a homogeneous Tvec4 vector from *this and return it, i.e.
 
Tvec4< DT > affinePoint () const
 Builds a homogeneous Tvec4 point from *this and return it, i.e.
 
Constructors
 Tvec3 (const DT value=0)
 Default and value constructor.
 
 Tvec3 (const Superclass &v)
 Copy constructor from FloatingPointVector.
 
 Tvec3 (const DT px, const DT py, const DT pz)
 Constructor building the vector x (first entry), y (second entry) and z (third entry).
 
 Tvec3 (const Tvec2< DT > &v, const DT pz)
 Builds a Tvec3 from a Tvec2 and a scalar. Set third entry to user given value z.
 
 Tvec3 (const Tvec4< DT > &v, const bool normalizeV)
 Casts a Tvec4 v to Tvec3.
 
 Tvec3 (const Tvec4< DT > &v, const int axis)
 Casts a Tvec4 v to Tvec3.
 
- Public Member Functions inherited from ml::FloatingPointVector< DT, 3, Vector3DataContainer< DT > >
 FloatingPointVector (DT value=DT(0))
 Default and value constructor.
 
FloatingPointVector< DT, size, Vector3DataContainer< DT > > & operator= (DT value)
 Assignment of scalar value to all components.
 
bool operator== (const FloatingPointVector< DT, size, Vector3DataContainer< DT > > &buffer) const
 Returns whether *this and buffer are component wise equal.
 
bool operator!= (const FloatingPointVector< DT, size, Vector3DataContainer< DT > > &buffer) const
 Returns whether any components of *this and buffer are not equal.
 
bool operator< (const FloatingPointVector< DT, size, Vector3DataContainer< DT > > &buffer) const
 Defines an artificial order for use in sort algorithms (lexicographical order).
 
const DT & operator[] (const size_t i) const
 Constant indexing operators.
 
DT & operator[] (const size_t i)
 Indexing operators.
 
size_t getSize () const
 Returns the number of elements of value buffer.
 
DT norm2 () const
 Returns the Euclidean norm (the vector length), i.e., square root of sum of squares of all components.
 
DT norm2 (const FloatingPointVector< DT, size, Vector3DataContainer< DT > > &weight) const
 Returns the weighted Euclidean norm, i.e., square root of sum of squares of all components multiplied with corresponding squared component of weight.
 
DT dot (const FloatingPointVector< DT, size, Vector3DataContainer< DT > > &buffer) const
 Returns the dot product, i.e., sum of all components multiplied with corresponding components of buffer.
 
DT normalize ()
 Normalizes the buffer and returns the Euclidean length of vector before normalization, i.e., norm2.
 
DT length () const
 Returns the length of the vector, i.e. norm2().
 
DT distance (const FloatingPointVector< DT, size, Vector3DataContainer< DT > > &buffer) const
 Returns the distance of this vector to a given one.
 
DT distanceSquared (const FloatingPointVector< DT, size, Vector3DataContainer< DT > > &buffer) const
 Returns the squared distance of this vector to a given one.
 
DT lengthSquared () const
 Returns the squared length of the vector.
 
DT compSum () const
 Returns the sum of all components.
 
DT compMul () const
 Returns the product of all vector components.
 
DT compMaxAbs () const
 Returns the maximum of absolute component values.
 
void compMin (FloatingPointVector< DT, size, Vector3DataContainer< DT > > buffer)
 Sets the component wise minimum of *this and buffer in *this.
 
void compMax (FloatingPointVector< DT, size, Vector3DataContainer< DT > > buffer)
 Sets the component wise maximum of *this and buffer in *this.
 
void compAbs ()
 Kills negative signs from all components.
 
void compDiv (const FloatingPointVector< DT, size, Vector3DataContainer< DT > > &d)
 Divides each vector component by the corresponding one of d.
 
void compSqr ()
 Calculates and sets the square of all components.
 
void compSqrt ()
 Calculates and sets square root of all components.
 
void clampMin (const FloatingPointVector< DT, size, Vector3DataContainer< DT > > &lower)
 Calculates and sets all components clamped to lower, i.e., if any component is smaller than the corresponding one in lower then it is set to the one from lower.
 
void clampMax (const FloatingPointVector< DT, size, Vector3DataContainer< DT > > &upper)
 Calculates and sets all components clamped to upper, i.e., if any component is greater than the corresponding one in upper then it is set to the one from upper.
 
void clamp (const FloatingPointVector< DT, size, Vector3DataContainer< DT > > &lower, const FloatingPointVector< DT, size, Vector3DataContainer< DT > > &upper)
 Calculates and sets all components of *this so that they are between minimum min and maximum max.
 
void compRound ()
 Rounds all components of this vector using floor(component + 0.5).
 
void compFloor ()
 Rounds all components of this vector using floor(component).
 
void compCeil ()
 Rounds all components of this vector to integer using ceil(component).
 
FloatingPointVector< DT, 3, Vector3DataContainer< DT > > cross (const FloatingPointVector< DT, 3, Vector3DataContainer< DT > > &b) const
 Returns the cross product for elements, i.e., return vector vertical to *this and b.
 
void apply (ML_LA_FROM_DOUBLE_TO_DOUBLE f)
 Applies the function f to each component starting from index 0 to index size-1.
 
std::ostream & writeOut (std::ostream &os) const
 Writes all components to ostream os starting from index 0 to size-1.
 
std::istream & readIn (std::istream &is)
 Reads all components from istream is starting starting from index 0 to size-1.
 

Additional Inherited Members

- Public Attributes inherited from ml::Vector3DataContainer< DT >
union { 
 
   struct { 
 
      DT   x 
 X-component of the vector, same as _buffer[0]. More...
 
      DT   y 
 Y-component of the vector, same as _buffer[1]. More...
 
      DT   z 
 Z-component of the vector, same as _buffer[2]. More...
 
   }  
 
   DT   _buffer [3] 
 Data members as vector to provide array access, same as x, y, and z members. More...
 
};  
 
- Related Symbols inherited from ml::FloatingPointVector< DT, 3, Vector3DataContainer< DT > >
 Returns the product of all components.
 
 Component wise minimum of buffer1 and buffer2.
 
 Component wise maximum of buffer1 and buffer2.
 
 Returns a vector with all components from vec without negative sign.
 
 Component wise division of vec / d.
 
 Returns a vector with all components from vec squared.
 
 Returns a vector with all components from vec square-rooted.
 
 Returns a new vector with all components from vec clamped to minimum m.
 
 Returns a new vector with all components from vec clamped to maximum m.
 
 Returns a new vector with all components from vec clamped to range [lower, upper].
 
 Arithmetic assignment: Component wise addition.
 
 Arithmetic assignment: Component wise subtraction of buffer from *this.
 
 Arithmetic assignment: Component wise multiplication *this with specialized MLdouble scalar value.
 
 Arithmetic assignment: Component wise multiplication *this with a vector of the same size.
 
 Arithmetic assignment: Component wise division of *this by scalar value.
 
 Arithmetic assignment: Component wise division of *this by the values of a vector of the same size.
 
 Returns whether all components are 0.
 
 Return value is the component wise addition of lhs and rhs.
 
 Unary plus, for completeness and for those who really want to use that...
 
 Return value is the component wise subtraction of rhs from lhs.
 
 Unary minus, all components of the vector are multiplied with -1.
 
 Dot product, returns a.dot(b).
 
 Component wise multiplication of lhs with rhs.
 
 Component wise multiplication of rhs with lhs.
 
 Component wise division of lhs by specialized rhs of type MLdouble.
 

Detailed Description

template<class DT>
class ml::Tvec3< DT >

Forward declarations to resolve header file dependencies.

A three dimensional vector class for floating point types.

Definition at line 65 of file mlVector3.h.

Member Typedef Documentation

◆ ComponentType

template<class DT >
typedef DT ml::Tvec3< DT >::ComponentType

A typedef to "export" the type of components.

Definition at line 74 of file mlVector3.h.

◆ Superclass

template<class DT >
typedef FloatingPointVector<DT, 3, Vector3DataContainer<DT> > ml::Tvec3< DT >::Superclass

A typedef as a shorthand for the base class.

Definition at line 71 of file mlVector3.h.

Constructor & Destructor Documentation

◆ Tvec3() [1/6]

template<class DT >
ml::Tvec3< DT >::Tvec3 ( const DT value = 0)
inlineexplicit

Default and value constructor.

Set all entries to a user given value. value is the init value for all entries. 0 is the default value.

Definition at line 82 of file mlVector3.h.

◆ Tvec3() [2/6]

template<class DT >
ml::Tvec3< DT >::Tvec3 ( const Superclass & v)
inline

Copy constructor from FloatingPointVector.

This allows the usage of SclarVectorTemplate objects of the same DT in operators using the Tvec3, because the FloatingPointVector objects can implicitly be cast.

Definition at line 89 of file mlVector3.h.

◆ Tvec3() [3/6]

template<class DT >
ml::Tvec3< DT >::Tvec3 ( const DT px,
const DT py,
const DT pz )
inline

Constructor building the vector x (first entry), y (second entry) and z (third entry).

Definition at line 95 of file mlVector3.h.

References mlrange_cast().

◆ Tvec3() [4/6]

template<class DT >
ml::Tvec3< DT >::Tvec3 ( const Tvec2< DT > & v,
const DT pz )
inline

Builds a Tvec3 from a Tvec2 and a scalar. Set third entry to user given value z.

Definition at line 103 of file mlVector3.h.

References mlrange_cast().

◆ Tvec3() [5/6]

template<class DT >
ml::Tvec3< DT >::Tvec3 ( const Tvec4< DT > & v,
const bool normalizeV )
inline

Casts a Tvec4 v to Tvec3.

If normalize is true then the first three components are divided by the last one to implement a homogeneous cast. In that case it is up to the caller to avoid a division by zero. If normalize if false then the first three components are taken unchanged.

Definition at line 115 of file mlVector3.h.

References ML_BAD_PARAMETER, mlrange_cast(), MLValuesDifferWOM(), and ml::printTemplateError().

◆ Tvec3() [6/6]

template<class DT >
ml::Tvec3< DT >::Tvec3 ( const Tvec4< DT > & v,
const int axis )
inline

Casts a Tvec4 v to Tvec3.

axis specifies component to be thrown away. All other components are copied sequentially. If axis is not within [0,3] then the last component is thrown away.

Definition at line 144 of file mlVector3.h.

References mlrange_cast().

Member Function Documentation

◆ affinePoint()

template<class DT >
Tvec4< DT > ml::Tvec3< DT >::affinePoint ( ) const
inline

Builds a homogeneous Tvec4 point from *this and return it, i.e.

leave all components unchanged and set the fourth component to 1.

Definition at line 204 of file mlVector3.h.

References mlrange_cast().

Referenced by ml::operator*().

◆ affineVec()

template<class DT >
Tvec4< DT > ml::Tvec3< DT >::affineVec ( ) const
inline

Builds a homogeneous Tvec4 vector from *this and return it, i.e.

leaves all components unchanged and set the fourth component to 0.

Definition at line 197 of file mlVector3.h.

References mlrange_cast().

◆ assign()

template<class DT >
void ml::Tvec3< DT >::assign ( const DT px,
const DT py,
const DT pz )
inline

Sets all components to the passed values.

Definition at line 172 of file mlVector3.h.

References mlrange_cast().

Referenced by ml::PCLMLTools::transformTo().

◆ divideByLastComp()

template<class DT >
Tvec3< DT > ml::Tvec3< DT >::divideByLastComp ( ) const
inline

Divides all vector components by its last component and returns it as Tvec3 which then has a 1 as last component.

It is useful to scale the vector from homogeneous space to normal space. It's up to the caller to avoid a division by zero if last component is 0.

Definition at line 183 of file mlVector3.h.

References ML_CHECK_FLOAT, and mlrange_cast().

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