6x1 vector classThis class consists of two 3x1 vectors. More...

#include <TaoDeVector6.h>

Collaboration diagram for deVector6:

Public Member Functions
DE_MATH_API deVector3 &	operator[] (deInt row)

DE_MATH_API const deVector3 &	operator[] (deInt row) const

DE_MATH_API deFloat &	elementAt (deInt i)

DE_MATH_API const deFloat &	elementAt (deInt i) const

DE_MATH_API void	operator= (const deVector6 &v)
	this = v More...

DE_MATH_API void	zero ()
	this = zero vector More...

DE_MATH_API void	negate (const deVector6 &v)
	this = -v More...

DE_MATH_API void	add (const deVector6 &v1, const deVector6 &v2)
	this = v1 + v2 More...

DE_MATH_API void	subtract (const deVector6 &v1, const deVector6 &v2)
	this = v1 - v2 More...

DE_MATH_API void	multiply (const deVector6 &v, const deFloat s)
	this[i] = v[i] * s More...

DE_MATH_API void	multiply (const deMatrix6 &m, const deVector6 &v)
	this = m * v More...

DE_MATH_API void	transposedMultiply (const deMatrix6 &m, const deVector6 &v)
	this = m^T * v More...

DE_MATH_API void	error (const deTransform &T, const deTransform &Td)
	this = T - Td More...

DE_MATH_API void	error (const deFrame &F, const deFrame &Fd)
	this = T - Td More...

DE_MATH_API void	operator+= (const deVector6 &v)
	this += v More...

DE_MATH_API void	operator-= (const deVector6 &v)
	this -= v More...

DE_MATH_API void	operator*= (const deFloat s)
	this *= s More...

DE_MATH_API deFloat	dot (const deVector6 &v) const

DE_MATH_API void	solve (const deMatrix6 &m, const deVector6 &y)
	this = x where y = m x More...

DE_MATH_API void	solveSPD (const deMatrix6 &m, const deVector6 &y)
	this = x where y = m x and m is SPD More...

void	backSub (const deMatrix6 &lu, const deVector6 &y)
	this = x where y = LU x More...

void	backSubSPD (const deMatrix6 &lu, const deVector6 &y)
	this = x where y = LU x and L*U is SPD More...

Spatial transformation only
DE_MATH_API void	xform (const deTransform &t, const deVector6 &v)
	this = X v More...

DE_MATH_API void	xformT (const deTransform &t, const deVector6 &v)
	this = X^T v More...

DE_MATH_API void	xformInvT (const deTransform &t, const deVector6 &v)
	this = X^-T v More...

DE_MATH_API void	xformInv (const deTransform &t, const deVector6 &v)
	this = X^-1 v More...

DE_MATH_API void	crossMultiply (const deVector6 &v1, const deVector6 &v2)
	this = [v0;v1]X[tmp0;tmp1] = [ v1x , v0x ; 0 , v1x ] [ tmp0 ; tmp1 ] More...

Private Attributes
deVector3	_vec3 [2]

Detailed Description

6x1 vector class

This class consists of two 3x1 vectors.

Remarks: spatial vector representing translational part and rotational part

See Also: deVector3

Member Function Documentation

DE_MATH_API void deVector6::add	(	const deVector6 &	v1,
		const deVector6 &	v2
	)

this = v1 + v2

void deVector6::backSub	(	const deMatrix6 &	lu,
		const deVector6 &	y
	)

this = x where y = LU x

void deVector6::backSubSPD	(	const deMatrix6 &	lu,
		const deVector6 &	y
	)

this = x where y = LU x and L*U is SPD

DE_MATH_API void deVector6::crossMultiply	(	const deVector6 &	v1,
		const deVector6 &	v2
	)

this = [v0;v1]X[tmp0;tmp1] = [ v1x , v0x ; 0 , v1x ] [ tmp0 ; tmp1 ]

DE_MATH_API deFloat deVector6::dot ( const deVector6 & v ) const

Returns: sum(this[i]*v[i])

DE_MATH_API deFloat & deVector6::elementAt ( deInt i )

Returns: element at i

DE_MATH_API const deFloat & deVector6::elementAt ( deInt i ) const

Returns: element at i

DE_MATH_API void deVector6::error	(	const deTransform &	T,
		const deTransform &	Td
	)

this = T - Td

DE_MATH_API void deVector6::error	(	const deFrame &	F,
		const deFrame &	Fd
	)

this = T - Td

DE_MATH_API void deVector6::multiply	(	const deVector6 &	v,
		const deFloat	s
	)

this[i] = v[i] * s

DE_MATH_API void deVector6::multiply	(	const deMatrix6 &	m,
		const deVector6 &	v
	)

this = m * v

DE_MATH_API void deVector6::negate ( const deVector6 & v )

this = -v

DE_MATH_API void deVector6::operator*= ( const deFloat s )

this *= s

DE_MATH_API void deVector6::operator+= ( const deVector6 & v )

this += v

DE_MATH_API void deVector6::operator-= ( const deVector6 & v )

this -= v

DE_MATH_API void deVector6::operator= ( const deVector6 & v )

this = v

DE_MATH_API deVector3 & deVector6::operator[] ( deInt row )

Returns: 3x1 vector

DE_MATH_API const deVector3 & deVector6::operator[] ( deInt row ) const

Returns: 3x1 vector

DE_MATH_API void deVector6::solve	(	const deMatrix6 &	m,
		const deVector6 &	y
	)

this = x where y = m x

DE_MATH_API void deVector6::solveSPD	(	const deMatrix6 &	m,
		const deVector6 &	y
	)

this = x where y = m x and m is SPD

DE_MATH_API void deVector6::subtract	(	const deVector6 &	v1,
		const deVector6 &	v2
	)

this = v1 - v2

DE_MATH_API void deVector6::transposedMultiply	(	const deMatrix6 &	m,
		const deVector6 &	v
	)

this = m^T * v

DE_MATH_API void deVector6::xform	(	const deTransform &	t,
		const deVector6 &	v
	)

this = X v

DE_MATH_API void deVector6::xformInv	(	const deTransform &	t,
		const deVector6 &	v
	)

this = X^-1 v

DE_MATH_API void deVector6::xformInvT	(	const deTransform &	t,
		const deVector6 &	v
	)

this = X^-T v

DE_MATH_API void deVector6::xformT	(	const deTransform &	t,
		const deVector6 &	v
	)

this = X^T v

DE_MATH_API void deVector6::zero ( )

this = zero vector

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

/home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/matrix/TaoDeVector6.h
/home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/matrix/TaoDeVector6.cpp
/home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/matrix/TaoDeVector6Inl.h

Public Member Functions

Private Attributes

Detailed Description

Member Function Documentation