Vector.h File Reference

Definitions of small fixed-size vector types. More...

#include <array>
#include <vector>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include "SurgSim/Framework/Assert.h"

Go to the source code of this file.

Namespaces
	SurgSim
	Wraps glewInit() to separate the glew opengl definitions from the osg opengl definitions only imgui needs glew but we need to call glewInit() from a osg callback, using this call we avoid getting warnings about redefinitions.

Typedefs
typedef Eigen::Matrix< float, 2, 1 >	SurgSim::Math::Vector2f
	A 2D vector of floats. More...
typedef Eigen::Matrix< float, 3, 1 >	SurgSim::Math::Vector3f
	A 3D vector of floats. More...
typedef Eigen::Matrix< float, 4, 1 >	SurgSim::Math::Vector4f
	A 4D vector of floats. More...
typedef Eigen::Matrix< float, 6, 1 >	SurgSim::Math::Vector6f
	A 6D vector of floats. More...
typedef Eigen::Matrix< double, 2, 1 >	SurgSim::Math::Vector2d
	A 2D vector of doubles. More...
typedef Eigen::Matrix< double, 3, 1 >	SurgSim::Math::Vector3d
	A 3D vector of doubles. More...
typedef Eigen::Matrix< double, 4, 1 >	SurgSim::Math::Vector4d
	A 4D vector of doubles. More...
typedef Eigen::Matrix< double, 6, 1 >	SurgSim::Math::Vector6d
	A 6D matrix of doubles. More...
typedef Eigen::Matrix< double, Eigen::Dynamic, 1 >	SurgSim::Math::Vector
	A dynamic size column vector.

Functions
template<class Vector , class SubVector >
void	SurgSim::Math::addSubVector (const SubVector &subVector, Eigen::Index blockId, Eigen::Index blockSize, Vector *vector)
	Helper method to add a sub-vector into a vector, for the sake of clarity. More...
template<class Vector , class SubVector >
void	SurgSim::Math::addSubVector (const Eigen::Ref< const SubVector > &subVector, const std::vector< size_t > &blockIds, Eigen::Index blockSize, Vector *vector)
	Helper method to add a sub-vector per block into a vector, for the sake of clarity. More...
template<class Vector , class SubVector >
void	SurgSim::Math::setSubVector (const SubVector &subVector, Eigen::Index blockId, Eigen::Index blockSize, Vector *vector)
	Helper method to set a sub-vector into a vector, for the sake of clarity. More...
template<class Vector >
Eigen::VectorBlock< Vector >	SurgSim::Math::getSubVector (Vector &vector, Eigen::Index blockId, Eigen::Index blockSize)
	Helper method to access a sub-vector from a vector, for the sake of clarity. More...
template<class Vector , class SubVector >
void	SurgSim::Math::getSubVector (const Vector &vector, const std::vector< size_t > &blockIds, Eigen::Index blockSize, SubVector *subVector)
	Helper method to get a sub-vector per block from a vector, for the sake of clarity. More...
template<typename T , int size, int TOpt>
Eigen::Matrix< T, size, 1, TOpt >	SurgSim::Math::interpolate (const Eigen::Matrix< T, size, 1, TOpt > &previous, const Eigen::Matrix< T, size, 1, TOpt > &next, T t)
	Interpolate (slerp) between 2 vectors. More...
template<class T , int VOpt>
bool	SurgSim::Math::buildOrthonormalBasis (Eigen::Matrix< T, 3, 1, VOpt > *i, Eigen::Matrix< T, 3, 1, VOpt > *j, Eigen::Matrix< T, 3, 1, VOpt > *k)
	Helper method to construct an orthonormal basis (i, j, k) given the 1st vector direction. More...
template<class T , int VOpt>
Eigen::Matrix< T, 3, 1, VOpt >	SurgSim::Math::robustCrossProduct (const std::array< Eigen::Matrix< T, 3, 1, VOpt >, 2 > &p, const std::array< Eigen::Matrix< T, 3, 1, VOpt >, 2 > &q, T epsilon)
	Calculate the best unit normal we can find in the direction of pXq for one of the endpoints of q. More...

Detailed Description

Definitions of small fixed-size vector types.

Typedef Documentation

Vector2d

typedef Eigen::Matrix<double, 2, 1> SurgSim::Math::Vector2d

A 2D vector of doubles.

This type (and any structs that contain it) can be safely allocated via new.

Vector2f

typedef Eigen::Matrix<float, 2, 1> SurgSim::Math::Vector2f

A 2D vector of floats.

This type (and any structs that contain it) can be safely allocated via new.

Vector3d

typedef Eigen::Matrix<double, 3, 1> SurgSim::Math::Vector3d

A 3D vector of doubles.

This type (and any structs that contain it) can be safely allocated via new.

Vector3f

typedef Eigen::Matrix<float, 3, 1> SurgSim::Math::Vector3f

A 3D vector of floats.

This type (and any structs that contain it) can be safely allocated via new.

Vector4d

typedef Eigen::Matrix<double, 4, 1> SurgSim::Math::Vector4d

A 4D vector of doubles.

This type (and any structs that contain it) can be safely allocated via new.

Vector4f

typedef Eigen::Matrix<float, 4, 1> SurgSim::Math::Vector4f

A 4D vector of floats.

This type (and any structs that contain it) can be safely allocated via new.

Vector6d

typedef Eigen::Matrix<double, 6, 1> SurgSim::Math::Vector6d

A 6D matrix of doubles.

This type (and any structs that contain it) can be safely allocated via new.

Vector6f

typedef Eigen::Matrix<float, 6, 1> SurgSim::Math::Vector6f

A 6D vector of floats.

This type (and any structs that contain it) can be safely allocated via new.

Function Documentation

addSubVector() [1/2]

template<class Vector , class SubVector >

void SurgSim::Math::addSubVector	(	const SubVector &	subVector,
		Eigen::Index	blockId,
		Eigen::Index	blockSize,
		Vector *	vector
	)

Helper method to add a sub-vector into a vector, for the sake of clarity.

Template Parameters

Vector	The vector type
SubVector	The sub-vector type

Parameters

	subVector	The sub-vector
	blockId	The block index in vector
	blockSize	The block size
[out]	vector	The vector to add the sub-vector into

addSubVector() [2/2]

template<class Vector , class SubVector >

void SurgSim::Math::addSubVector	(	const Eigen::Ref< const SubVector > &	subVector,
		const std::vector< size_t > &	blockIds,
		Eigen::Index	blockSize,
		Vector *	vector
	)

Helper method to add a sub-vector per block into a vector, for the sake of clarity.

Template Parameters

VectorType

The vector type

Parameters

	subVector	The sub-vector (containing all the blocks)
	blockIds	Vector of block indices (for accessing vector) corresponding to the blocks in sub-vector
	blockSize	The block size
[out]	vector	The vector to add the sub-vector blocks into

buildOrthonormalBasis()

template<class T , int VOpt>

bool SurgSim::Math::buildOrthonormalBasis	(	Eigen::Matrix< T, 3, 1, VOpt > *	i,
		Eigen::Matrix< T, 3, 1, VOpt > *	j,
		Eigen::Matrix< T, 3, 1, VOpt > *	k
	)

Helper method to construct an orthonormal basis (i, j, k) given the 1st vector direction.

Template Parameters

T	the numeric data type used for the vector argument. Can usually be deduced.
VOpt	the option flags (alignment etc.) used for the vector argument. Can be deduced.

Parameters

[in,out]	i	Should provide the 1st direction on input. The 1st vector of the basis (i, j, k) on output.
[out]	j,k	The 2nd and 3rd orthonormal vectors of the basis (i, j, k)

Returns

True if (i, j, k) has been built successfully, False if 'i' is a (or close to a) null vector

Note

If any of the parameter is a nullptr, an exception will be raised

getSubVector() [1/2]

template<class Vector >

Eigen::VectorBlock<Vector> SurgSim::Math::getSubVector	(	Vector &	vector,
		Eigen::Index	blockId,
		Eigen::Index	blockSize
	)

Helper method to access a sub-vector from a vector, for the sake of clarity.

Template Parameters

Vector

The vector type to get the sub-vector from

Parameters

vector	The vector to get the sub-vector from
blockId	The block index
blockSize	The block size

Returns

The requested sub-vector

Note

Disable cpplint warnings for use of non-const reference

Eigen has a specific type for VectorBlock that we want to return with read/write access

therefore the Vector from which the VectorBlock is built from must not be const

getSubVector() [2/2]

template<class Vector , class SubVector >

void SurgSim::Math::getSubVector	(	const Vector &	vector,
		const std::vector< size_t > &	blockIds,
		Eigen::Index	blockSize,
		SubVector *	subVector
	)

Helper method to get a sub-vector per block from a vector, for the sake of clarity.

Template Parameters

Vector	The vector type
SubVector	The sub-vector type

Parameters

	vector	The vector (containing the blocks in a sparse manner)
	blockIds	Vector of block indices (for accessing vector) corresponding to the blocks in vector
	blockSize	The block size
[out]	subVector	The sub-vector to store the requested blocks (blockIds) from vector into

interpolate()

template<typename T , int size, int TOpt>

Eigen::Matrix<T, size, 1, TOpt> SurgSim::Math::interpolate	(	const Eigen::Matrix< T, size, 1, TOpt > &	previous,
		const Eigen::Matrix< T, size, 1, TOpt > &	next,
		T	t
	)

Interpolate (slerp) between 2 vectors.

Template Parameters

T	the numeric data type used for arguments and the return value. Can usually be deduced.
size	the size of the vectors. Can be deduced.
TOpt	the option flags (alignment etc.) used for the Vector arguments. Can be deduced.

Parameters

previous	The starting vector (at time 0.0).
next	The ending vector (at time 1.0).
t	The interpolation time requested. Within [0..1], although note bounds are not checked.

Returns

the transform resulting in the slerp interpolation at time t.

Note

t=0 => returns vector 'previous'

t=1 => returns vector 'next'

robustCrossProduct()

template<class T , int VOpt>

Eigen::Matrix<T, 3, 1, VOpt> SurgSim::Math::robustCrossProduct	(	const std::array< Eigen::Matrix< T, 3, 1, VOpt >, 2 > &	p,
		const std::array< Eigen::Matrix< T, 3, 1, VOpt >, 2 > &	q,
		T	epsilon
	)

Calculate the best unit normal we can find in the direction of pXq for one of the endpoints of q.

Try multiple arrangements of the end points to reduce the artifacts when three of the vertices may be nearly collinear.

Parameters

p	segment p
q	segment q
epsilon	when the norm of p x q is above epsilon, the cross product is assumed to be valid. return the normalized cross product of p x q

setSubVector()

template<class Vector , class SubVector >

void SurgSim::Math::setSubVector	(	const SubVector &	subVector,
		Eigen::Index	blockId,
		Eigen::Index	blockSize,
		Vector *	vector
	)

Helper method to set a sub-vector into a vector, for the sake of clarity.

Template Parameters

Vector	The vector type
SubVector	The sub-vector type

Parameters

	subVector	The sub-vector
	blockId	The block index in vector
	blockSize	The size of the sub-vector
[out]	vector	The vector to set the sub-vector into