SurgSim::Math::LinearMotionND< T, N > Class Template Reference

LinearMotionND<T, N> defines the concept of a group of linear motions and provides operations on them including arithmetic operations, construction, and I/O. More...

#include <LinearMotionArithmetic.h>

Public Member Functions
	LinearMotionND ()
	Constructor.
	LinearMotionND (const std::array< LinearMotion< T >, N > &x)
	Constructor. More...
	LinearMotionND (const LinearMotionND< T, N > &motion)
	Copy constructor. More...
	LinearMotionND (LinearMotionND< T, N > &&motion)
	Move constructor. More...
	LinearMotionND (const std::array< T, N > &a, const std::array< T, N > &b)
	Constructor. More...
LinearMotionND< T, N > &	operator= (const LinearMotionND< T, N > &motion)
	Assignment operator. More...
LinearMotionND< T, N > &	operator= (LinearMotionND< T, N > &&motion)
	Move assignment operator. More...
IntervalND< T, N >	toInterval () const
	Convert from LinearMotion to an Interval. More...
bool	isApprox (const LinearMotionND< T, N > &motion, const T &epsilon) const
bool	operator== (const LinearMotionND< T, N > &motion) const
bool	operator!= (const LinearMotionND< T, N > &motion) const
IntervalND< T, N >	operator* (const LinearMotionND< T, N > &m) const
	Standard arithmetic operators extended to interval groups. More...
IntervalND< T, N >	operator/ (const LinearMotionND< T, N > &m) const
	Standard arithmetic operators extended to interval groups. More...
Interval< T >	dotProduct (const LinearMotionND< T, N > &motion) const
const LinearMotion< T > &	getAxis (int i) const
void	getStart (std::array< T, N > *start) const
void	getEnd (std::array< T, N > *end) const
LinearMotionND< T, N >	firstHalf () const
LinearMotionND< T, N >	secondHalf () const
LinearMotionND< T, N >	operator+ (const LinearMotionND< T, N > &m) const
LinearMotionND< T, N > &	operator+= (const LinearMotionND< T, N > &m)
LinearMotionND< T, N >	operator- (const LinearMotionND< T, N > &m) const
LinearMotionND< T, N > &	operator-= (const LinearMotionND< T, N > &m)

Detailed Description

template<class T, int N>
class SurgSim::Math::LinearMotionND< T, N >

LinearMotionND<T, N> defines the concept of a group of linear motions and provides operations on them including arithmetic operations, construction, and I/O.

Template Parameters

T	underlying data type over which the linear motion is defined.
N	Dimensionality of the interval

See also

LinearMotionND<T> and IntervalArthmetic<T, N>

Constructor & Destructor Documentation

LinearMotionND() [1/4]

template<typename T, int N>

SurgSim::Math::LinearMotionND< T, N >::LinearMotionND ( const std::array< LinearMotion< T >, N > &  x )

explicit

Constructor.

Parameters

x	array of N motions to be copied into the group

LinearMotionND() [2/4]

template<typename T, int N>

SurgSim::Math::LinearMotionND< T, N >::LinearMotionND

(

const LinearMotionND< T, N > &

motion

)

Copy constructor.

Parameters

motion

motion group to copied

LinearMotionND() [3/4]

template<typename T, int N>

SurgSim::Math::LinearMotionND< T, N >::LinearMotionND

(

LinearMotionND< T, N > &&

motion

)

Move constructor.

Parameters

motion

motion to be copied

LinearMotionND() [4/4]

template<typename T, int N>

SurgSim::Math::LinearMotionND< T, N >::LinearMotionND	(	const std::array< T, N > &	a,
		const std::array< T, N > &	b
	)

Constructor.

Parameters

a	array of N values to be used as the respective starts for the linear motion entries.
b	array of N values to be used as the respective ends for the linear motion entries.

Member Function Documentation

dotProduct()

template<typename T, int N>

Interval< T > SurgSim::Math::LinearMotionND< T, N >::dotProduct

(

const LinearMotionND< T, N > &

motion

)

const

Parameters

motion

the input linear motion group

Returns

the interval dot product of the current group and interval

firstHalf()

template<typename T , int N>

LinearMotionND< T, N > SurgSim::Math::LinearMotionND< T, N >::firstHalf

(

)

const

Returns

the linear motion from the starting point to the midpoint

getAxis()

template<typename T , int N>

const LinearMotion< T > & SurgSim::Math::LinearMotionND< T, N >::getAxis

(

int

i

)

const

Parameters

i	the selector for the linear motion to be returned

Returns

the ith interval in the current group

Exceptions

thrown

if the requested axis is < 0 or greater than N - 1

getEnd()

template<typename T, int N>

void SurgSim::Math::LinearMotionND< T, N >::getEnd

(

std::array< T, N > *

end

)

const

Parameters

end	[out] the ending points of the linear motion group as an N dimension array.

getStart()

template<typename T, int N>

void SurgSim::Math::LinearMotionND< T, N >::getStart

(

std::array< T, N > *

start

)

const

Parameters

start

[out] the starting points of the linear motion group as an N dimension array.

isApprox()

template<typename T, int N>

bool SurgSim::Math::LinearMotionND< T, N >::isApprox	(	const LinearMotionND< T, N > &	motion,
		const T &	epsilon
	)		const

Parameters

motion	the linear motion group to be tested
epsilon	the nearness parameter

Returns

true if each linear motion in the input group is approximately equal to its correspondent element in motion.

operator!=()

template<typename T, int N>

bool SurgSim::Math::LinearMotionND< T, N >::operator!=

(

const LinearMotionND< T, N > &

motion

)

const

Parameters

motion

the linear motion group to be tested

Returns

true if the current linear motion group is not identical to the input group

operator*()

template<typename T, int N>

IntervalND< T, N > SurgSim::Math::LinearMotionND< T, N >::operator*

(

const LinearMotionND< T, N > &

m

)

const

Standard arithmetic operators extended to interval groups.

Note

Multiplication and division operators by their nature do not preserve time ordering and so the return value is an IntervalND instead of a LinearMotionND

operator+()

template<typename T, int N>

LinearMotionND< T, N > SurgSim::Math::LinearMotionND< T, N >::operator+

(

const LinearMotionND< T, N > &

m

)

const

Standard arithmetic operators extended to interval groups

operator/()

template<typename T, int N>

IntervalND< T, N > SurgSim::Math::LinearMotionND< T, N >::operator/

(

const LinearMotionND< T, N > &

m

)

const

Standard arithmetic operators extended to interval groups.

Note

Multiplication and division operators by their nature do not preserve time ordering and so the return value is an IntervalND instead of a LinearMotionND

Exceptions

if	any component of interval includes 0

operator=() [1/2]

template<typename T, int N>

LinearMotionND< T, N > & SurgSim::Math::LinearMotionND< T, N >::operator=

(

const LinearMotionND< T, N > &

motion

)

Assignment operator.

Parameters

motion

Linear motion group to be copied

operator=() [2/2]

template<typename T, int N>

LinearMotionND< T, N > & SurgSim::Math::LinearMotionND< T, N >::operator=

(

LinearMotionND< T, N > &&

motion

)

Move assignment operator.

Parameters

motion

Linear motion group to be moved

operator==()

template<typename T, int N>

bool SurgSim::Math::LinearMotionND< T, N >::operator==

(

const LinearMotionND< T, N > &

motion

)

const

Parameters

motion

the linear motion group to be tested

Returns

true if the current linear motion group is identical to the input group

secondHalf()

template<typename T , int N>

LinearMotionND< T, N > SurgSim::Math::LinearMotionND< T, N >::secondHalf

(

)

const

Returns

the linear motion from the midpoint to the ending point

toInterval()

template<typename T , int N>

IntervalND< T, N > SurgSim::Math::LinearMotionND< T, N >::toInterval

(

)

const

Convert from LinearMotion to an Interval.

Returns

the conversion of the ND LinearMotion to an ND Interval

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

• SurgSim/Math/LinearMotionArithmetic.h
• SurgSim/Math/LinearMotionArithmetic-inl.h