ImFusion::Vector< From, EigenType > Class Template Reference

#include <ImFusion/Core/Vector.h>

Class representing a vector, defined in a Frame. More...

Detailed Description

template<auto From, typename EigenType = Eigen::Vector4d>
class ImFusion::Vector< From, EigenType >

Class representing a vector, defined in a Frame.

See Transform for documentation on Frames

At compilation time, the validity of Vector operations is checked:

• Assignment can only be from the same Frame
• From Frame of the Transform right multiplied must match our Frame

An example of Vector with Transform:

enum class Robot { Base = 0, Arm, EndEffector };
 
Transform<Robot::Base, Robot::EndEffector> base_T_ef;
Vector<Robot::EndEffector> tipPosition;
Vector<Robot::Base> tipInBase = base_T_ef * tipPosition;

The following would not compile:

enum class Robot { Base = 0, Arm, EndEffector };
 
Transform<Robot::Base, Robot::EndEffector> base_T_ef;
Vector<Robot::Arm> armPos;
armPos = Vector<Robot::EndEffector>{}; // Frame does not match
Vector<Robot::Base> armInBase = base_T_ef * armPos; // From-Frame does not match Vector Frame

By default the Vector uses an Eigen::Vector4d. A different Eigen vector can also be used as supporting type, such as Eigen::Vector3d for 2D coordinates.

Template Parameters

From	Frame where the vector originates from
EigenType	Underlying type of the Vector, should be an Eigen type

See also

Transform

Public Types
using	TypeFrom = decltype(From)

Public Member Functions
	Vector (EigenType v)
template<auto OtherFrom, typename OtherEigenType>
	Vector (const Vector< OtherFrom, OtherEigenType > &other)
template<auto OtherFrom>
	Vector (Vector< OtherFrom > &&other)
template<auto OtherFrom>
Vector< FrameFrom, EigenType > &	operator= (const Vector< OtherFrom, EigenType > &other)
template<auto OtherFrom, typename OtherEigenType>
Vector< FrameFrom, EigenType > &	operator= (const Vector< OtherFrom, OtherEigenType > &other)
template<auto OtherFrom>
auto	operator+ (const Vector< OtherFrom, EigenType > &other) const
template<auto OtherFrom>
auto	operator- (const Vector< OtherFrom, EigenType > &other) const
template<typename Operand, typename = typename std::enable_if<std::is_arithmetic<Operand>::value, Operand>::type>
auto	operator* (const Operand &other) const
void	normalize ()
auto	normalized () const
template<auto OtherFrom>
double	dot (const Vector< OtherFrom, EigenType > &other) const
template<auto OtherFrom>
auto	cross (const Vector< OtherFrom, EigenType > &other) const
EigenType &	vector ()
const EigenType &	vector () const
	operator EigenType () const

Static Public Attributes
static constexpr TypeFrom	FrameFrom = From

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

• ImFusion/Core/Vector.h