LinearMotionND<T, 3> specializes the LinearMotionND<T, N> class for 3 dimensions. More...

#include <LinearMotionArithmetic.h>

Public Types
typedef Eigen::Matrix< T, 3, 1 >	Vector3
	Typedef for a vector 3 return.

Public Member Functions
	LinearMotionND ()
	Constructor.

	LinearMotionND (const std::array< LinearMotion< T >, 3 > &x)
	Constructor. More...

	LinearMotionND (const LinearMotion< T > &a, const LinearMotion< T > &b, const LinearMotion< T > &c)
	Constructor. More...

	LinearMotionND (const LinearMotionND< T, 3 > &motion)
	Copy constructor. More...

	LinearMotionND (LinearMotionND< T, 3 > &&motion)
	Move constructor. More...

	LinearMotionND (const std::array< T, 3 > &start, const std::array< T, 3 > &end)
	Constructor. More...

	LinearMotionND (const Vector3 &start, const Vector3 &end)
	Constructor. More...

LinearMotionND< T, 3 > &	operator= (const LinearMotionND< T, 3 > &motion)
	Assignment operator. More...

LinearMotionND< T, 3 > &	operator= (LinearMotionND< T, 3 > &&motion)
	Move assignment operator. More...

IntervalND< T, 3 >	toInterval () const
	Convert from LinearMotion to an Interval. More...

bool	isApprox (const LinearMotionND< T, 3 > &motion, const T &epsilon) const

bool	operator== (const LinearMotionND< T, 3 > &motion) const

bool	operator!= (const LinearMotionND< T, 3 > &motion) const

IntervalND< T, 3 >	operator* (const LinearMotionND< T, 3 > &m) const
	Standard arithmetic operators extended to interval groups. More...

IntervalND< T, 3 >	operator/ (const LinearMotionND< T, 3 > &m) const
	Standard arithmetic operators extended to interval groups. More...

Interval< T >	dotProduct (const LinearMotionND< T, 3 > &motion, const Interval< T > &range) const

IntervalND< T, 3 >	crossProduct (const LinearMotionND< T, 3 > &motion, const Interval< T > &range) const

Interval< T >	magnitudeSquared (const Interval< T > &range) const

Interval< T >	magnitude (const Interval< T > &range) const

const LinearMotion< T > &	getAxis (int i) const

void	getStart (std::array< T, 3 > *start) const

void	getEnd (std::array< T, 3 > *end) const

Vector3	getStart () const

Vector3	getEnd () const

Vector3	atTime (const T &t) const

LinearMotionND< T, 3 >	firstHalf () const

LinearMotionND< T, 3 >	secondHalf () const


LinearMotionND< T, 3 >	operator+ (const LinearMotionND< T, 3 > &m) const

LinearMotionND< T, 3 > &	operator+= (const LinearMotionND< T, 3 > &m)

LinearMotionND< T, 3 >	operator- (const LinearMotionND< T, 3 > &m) const

LinearMotionND< T, 3 > &	operator-= (const LinearMotionND< T, 3 > &m)

Detailed Description

template<class T>
class SurgSim::Math::LinearMotionND< T, 3 >

LinearMotionND<T, 3> specializes the LinearMotionND<T, N> class for 3 dimensions.

See also: LinearMotion<T>, LinearMotionND<T, N> and IntervalArthmetic<T, 3>

Constructor & Destructor Documentation

§ LinearMotionND() [1/6]

template<typename T >

SurgSim::Math::LinearMotionND< T, 3 >::LinearMotionND ( const std::array< LinearMotion< T >, 3 > & x )

explicit

Constructor.

Parameters

x	array of 3 linear motions to be copied into the group

§ LinearMotionND() [2/6]

template<typename T >

SurgSim::Math::LinearMotionND< T, 3 >::LinearMotionND	(	const LinearMotion< T > &	a,
		const LinearMotion< T > &	b,
		const LinearMotion< T > &	c
	)

Constructor.

Parameters

a	first linear motion to be added to the 3 group
b	second linear motion to be added to the 3 group
c	third linear motion to be added to the 3 group

§ LinearMotionND() [3/6]

template<typename T >

SurgSim::Math::LinearMotionND< T, 3 >::LinearMotionND ( const LinearMotionND< T, 3 > & motion )

Copy constructor.

Parameters

motion linear motion 3 group to be copied

§ LinearMotionND() [4/6]

template<typename T >

SurgSim::Math::LinearMotionND< T, 3 >::LinearMotionND ( LinearMotionND< T, 3 > && motion )

Move constructor.

Parameters

motion Linear motion to be copied

§ LinearMotionND() [5/6]

template<typename T >

SurgSim::Math::LinearMotionND< T, 3 >::LinearMotionND	(	const std::array< T, 3 > &	start,
		const std::array< T, 3 > &	end
	)

Constructor.

Parameters

start	array of 3 values to be used as the respective starts for the linear motion entries.
end	array of 3 values to be used as the respective ends for the linear motion entries.

§ LinearMotionND() [6/6]

template<typename T >

SurgSim::Math::LinearMotionND< T, 3 >::LinearMotionND	(	const Vector3 &	start,
		const Vector3 &	end
	)

Constructor.

Parameters

start	array of 3 values to be used as the respective starts for the linear motion entries.
end	array of 3 values to be used as the respective ends for the linear motion entries.

Member Function Documentation

§ atTime()

template<typename T >

LinearMotionND< T, 3 >::Vector3 SurgSim::Math::LinearMotionND< T, 3 >::atTime ( const T & t ) const

Parameters

t	the parametric value at which to evaluate the linear motion

Returns: the value of the linear motion 3D at time t as a 3 Vector

§ crossProduct()

template<typename T >

IntervalND< T, 3 > SurgSim::Math::LinearMotionND< T, 3 >::crossProduct	(	const LinearMotionND< T, 3 > &	motion,
		const Interval< T > &	range
	)		const

Parameters

motion	the input linear motion 3 group
range	the range over which the cross product is to be evaluated.

Returns: the interval cross product of the current 3 group and interval evaluated over the interval range.

§ dotProduct()

template<typename T >

Interval< T > SurgSim::Math::LinearMotionND< T, 3 >::dotProduct	(	const LinearMotionND< T, 3 > &	motion,
		const Interval< T > &	range
	)		const

Parameters

motion	the input linear motion 3 group
range	the range over which the dot product is to be evaluated.

Returns: the interval dot product of the current 3 group and interval evaluated over the interval range.

§ firstHalf()

template<typename T >

LinearMotionND< T, 3 > SurgSim::Math::LinearMotionND< T, 3 >::firstHalf ( ) const

Returns: the linear motion 3D from the start to the midpoint

§ getAxis()

template<typename T >

const LinearMotion< T > & SurgSim::Math::LinearMotionND< T, 3 >::getAxis ( int i ) const

Parameters

i	the selector for the linear motion to be returned

Returns: the ith linear motion in the current 3 group

Exceptions

thrown if the requested axis is < 0 or greater than 2

§ getEnd() [1/2]

template<typename T >

void SurgSim::Math::LinearMotionND< T, 3 >::getEnd ( std::array< T, 3 > * end ) const

Parameters

end	[out] the end of the linear motion 3D as a 3 value array

§ getEnd() [2/2]

template<typename T >

LinearMotionND< T, 3 >::Vector3 SurgSim::Math::LinearMotionND< T, 3 >::getEnd ( ) const

Returns: the end of the linear motion 3D as a 3 Vector

§ getStart() [1/2]

template<typename T >

void SurgSim::Math::LinearMotionND< T, 3 >::getStart ( std::array< T, 3 > * start ) const

Parameters

start [out] the start of the linear motion 3D as a 3 value array

§ getStart() [2/2]

template<typename T >

LinearMotionND< T, 3 >::Vector3 SurgSim::Math::LinearMotionND< T, 3 >::getStart ( ) const

Returns: the start of the linear motion 3D as a 3 Vector

§ isApprox()

template<typename T >

bool SurgSim::Math::LinearMotionND< T, 3 >::isApprox	(	const LinearMotionND< T, 3 > &	motion,
		const T &	epsilon
	)		const

Parameters

motion	the 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.

§ magnitude()

template<typename T >

Interval< T > SurgSim::Math::LinearMotionND< T, 3 >::magnitude ( const Interval< T > & range ) const

Returns: the linear motion magnitude for the current 3 group

§ magnitudeSquared()

template<typename T >

Interval< T > SurgSim::Math::LinearMotionND< T, 3 >::magnitudeSquared ( const Interval< T > & range ) const

Returns: the square of the linear motion magnitude for the current 3 group

§ operator!=()

template<typename T >

bool SurgSim::Math::LinearMotionND< T, 3 >::operator!= ( const LinearMotionND< T, 3 > & motion ) const

Parameters

motion the linear motion group to be tested

Returns: true if the current linear motion 3 group is not identical to the input 3 group motion.

§ operator*()

template<typename T >

IntervalND< T, 3 > SurgSim::Math::LinearMotionND< T, 3 >::operator* ( const LinearMotionND< T, 3 > & 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 >

LinearMotionND< T, 3 > SurgSim::Math::LinearMotionND< T, 3 >::operator+ ( const LinearMotionND< T, 3 > & m ) const

Standard arithmetic operators extended to 3 interval groups

§ operator/()

template<typename T >

IntervalND< T, 3 > SurgSim::Math::LinearMotionND< T, 3 >::operator/ ( const LinearMotionND< T, 3 > & 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 >

LinearMotionND< T, 3 > & SurgSim::Math::LinearMotionND< T, 3 >::operator= ( const LinearMotionND< T, 3 > & motion )

Assignment operator.

Parameters

motion Linear motion 3 group to be copied

§ operator=() [2/2]

template<typename T >

LinearMotionND< T, 3 > & SurgSim::Math::LinearMotionND< T, 3 >::operator= ( LinearMotionND< T, 3 > && motion )

Move assignment operator.

Parameters

motion Linear motion 3 group to be moved

§ operator==()

template<typename T >

bool SurgSim::Math::LinearMotionND< T, 3 >::operator== ( const LinearMotionND< T, 3 > & motion ) const

Parameters

motion the linear motion group to be tested

Returns: true if the current linear motion 3 group is identical to the input 3 group motion

§ secondHalf()

template<typename T >

LinearMotionND< T, 3 > SurgSim::Math::LinearMotionND< T, 3 >::secondHalf ( ) const

Returns: the linear motion 3D from the midpoint to the start

§ toInterval()

template<typename T >

IntervalND< T, 3 > SurgSim::Math::LinearMotionND< T, 3 >::toInterval ( ) const

Convert from LinearMotion to an Interval.

Returns: the conversion of the 3D LinearMotion to a 3D Interval

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

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

Public Types

Public Member Functions

Detailed Description

template<class T> class SurgSim::Math::LinearMotionND< T, 3 >

Constructor & Destructor Documentation

§ LinearMotionND() [1/6]

§ LinearMotionND() [2/6]

§ LinearMotionND() [3/6]

§ LinearMotionND() [4/6]

§ LinearMotionND() [5/6]

§ LinearMotionND() [6/6]

Member Function Documentation

§ atTime()

§ crossProduct()

§ dotProduct()

§ firstHalf()

§ getAxis()

§ getEnd() [1/2]

§ getEnd() [2/2]

§ getStart() [1/2]

§ getStart() [2/2]

§ isApprox()

§ magnitude()

§ magnitudeSquared()

§ operator!=()

§ operator*()

§ operator+()

§ operator/()

§ operator=() [1/2]

§ operator=() [2/2]

§ operator==()

§ secondHalf()

§ toInterval()

template<class T>
class SurgSim::Math::LinearMotionND< T, 3 >