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

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

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

ImFusion/Core/Vector.h

Detailed Description

Public Types

Public Member Functions

Static Public Attributes