Class inertialsim::geometry::VectorBase

template <typename Derived>

ClassList > inertialsim > geometry > VectorBase

Base class for 3-dimensional vector types. More...

• #include <vector_base.h>

Inherits the following classes: inertialsim::geometry::MatrixLieGroup

Public Types

Type	Name
typedef MatrixLieGroup< Derived, 4, 3 >	Base

Public Types inherited from inertialsim::geometry::MatrixLieGroup

See inertialsim::geometry::MatrixLieGroup

Type	Name
typedef Eigen::Matrix< Scalar, AlgebraDimension, Eigen::Dynamic >	AlgebraArray Array of algebra elements.
typedef Eigen::Matrix< Scalar, AlgebraDimension, 1 >	AlgebraElement Algebra element type (vector).
typedef std::vector< GroupElement >	GroupArray Array of group elements.
typedef Eigen::Matrix< Scalar, GroupDimension, GroupDimension >	GroupElement Group element type (square matrix).
typedef Eigen::Matrix< Scalar, AlgebraDimension, AlgebraDimension >	JacobianMatrix Jacobian matrix (algebra to algebra).
typedef std::vector< JacobianMatrix >	JacobianMatrixArray Array of Jacobian matrices.

Public Functions

Type	Name
Array3D	AsSpherical () const Return spherical coordinates (radius, polar, azimuth).
Vector3D	AsXyz () const Return Cartesian coordinates.
Vector3D	Error (const Derived & reference) const Calculate error compared to a reference vector.
Vector3D	Error (const Vector3D & reference) const Calculate error compared to a reference array.
int	num_vectors () const Number of vectors stored.
Derived	operator* (double scalar) const Multiply by a scalar.
Derived	operator+ (const Derived & rhs) const Add two vectors.
Derived	operator- (const Derived & rhs) const Subtract two vectors.
Derived	operator/ (double scalar) const Divide by a scalar.

Public Functions inherited from inertialsim::geometry::MatrixLieGroup

See inertialsim::geometry::MatrixLieGroup

Type	Name
Vector3D	Apply (const Vector3D & vectors) const Apply the group action to an array of vectors.
Derived	Interpolate (const Timestamps & interp_time, Interpolator method=Interpolator::LINEAR) const Interpolate at given times.
Derived	Inverse () const Invert an instance.
Derived	Slice (int start, int end) const Get a slice of elements.
AlgebraArray	TimeDerivative (int order=1, int accuracy=4, const std::string & side="right") const Compute time derivative using finite differences.
int	num_elements () const Number of elements stored in the instance.
Derived	operator* (const Derived & rhs) const Compose elements of the group.
Derived	operator[] (int index) const Get a single element by index.
const std::optional< Timestamps > &	time () const Time array corresponding to each element.
virtual	~MatrixLieGroup () = default

Public Static Functions

Type	Name
Derived	FromSpherical (const Array3D & rpa, const std::optional< Timestamps > & time=std::nullopt) Construct from spherical coordinates (radius, polar, azimuth).
Derived	FromXyz (const Vector3D & xyz, const std::optional< Timestamps > & time=std::nullopt) Construct from Cartesian coordinates.

Public Static Functions inherited from inertialsim::geometry::MatrixLieGroup

See inertialsim::geometry::MatrixLieGroup

Type	Name
Derived	Compose (const std::vector< Derived > & instances) Compose a sequence of instances (first to last).
Derived	FromIdentity (int num_elements=1) Create identity elements.
Derived	FromRandom (int num_elements=1, std::optional< Eigen::numext::uint64_t > seed=std::nullopt) Create random elements.

Protected Functions

Type	Name
	VectorBase () Default constructor.
	VectorBase (const Vector3D & xyz, const std::optional< Timestamps > & time=std::nullopt) Construct from Cartesian coordinates.

Protected Functions inherited from inertialsim::geometry::MatrixLieGroup

See inertialsim::geometry::MatrixLieGroup

Type	Name
AlgebraArray	AsAlgebra () const Get the algebra elements.
GroupArray	AsGroup () const Get the group elements.
	MatrixLieGroup (const std::optional< Timestamps > & time=std::nullopt) Constructor.
int	num_times () const

Protected Static Functions inherited from inertialsim::geometry::MatrixLieGroup

See inertialsim::geometry::MatrixLieGroup

Type	Name
GroupElement	Exp (const AlgebraElement & vector) Exponential map from algebra to group.
Derived	FromAlgebra (const AlgebraArray & elements, const std::optional< Timestamps > & time) Create instance from algebra elements.
Derived	FromGroup (const GroupArray & elements, const std::optional< Timestamps > & time) Create instance from group elements.
JacobianMatrixArray	Jacobian (const AlgebraArray & algebra, const std::string & side="left", bool inverse=false) Calculate the Jacobian of the exponential map.
AlgebraElement	Log (const GroupElement & element) Logarithm map from group to algebra.

Detailed Description

Template parameters:

• Derived The derived class (Vector, Translation, or CoordinateTranslation).

Public Types Documentation

typedef Base

using inertialsim::geometry::VectorBase< Derived >::Base =  MatrixLieGroup<Derived, 4, 3>;

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Public Functions Documentation

function AsSpherical

Return spherical coordinates (radius, polar, azimuth).

inline Array3D inertialsim::geometry::VectorBase::AsSpherical () const

Returns:

Spherical coordinates (3xN matrix).

---

function AsXyz

Return Cartesian coordinates.

inline Vector3D inertialsim::geometry::VectorBase::AsXyz () const

Returns:

Cartesian coordinates (3xN matrix).

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function Error [1/2]

Calculate error compared to a reference vector.

inline Vector3D inertialsim::geometry::VectorBase::Error (
    const  Derived & reference
) const

Parameters:

• reference Reference vector.

Returns:

Error values.

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function Error [2/2]

Calculate error compared to a reference array.

inline Vector3D inertialsim::geometry::VectorBase::Error (
    const  Vector3D & reference
) const

Parameters:

• reference Reference coordinates (3xN matrix).

Returns:

Error values.

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function num_vectors

Number of vectors stored.

inline int inertialsim::geometry::VectorBase::num_vectors () const

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function operator*

Multiply by a scalar.

inline Derived inertialsim::geometry::VectorBase::operator* (
    double scalar
) const

Parameters:

• scalar Scalar multiplier.

Returns:

New vector containing the product.

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function operator+

Add two vectors.

inline Derived inertialsim::geometry::VectorBase::operator+ (
    const  Derived & rhs
) const

Parameters:

• rhs Right-hand side vector.

Returns:

New vector containing the sum.

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function operator-

Subtract two vectors.

inline Derived inertialsim::geometry::VectorBase::operator- (
    const  Derived & rhs
) const

Parameters:

• rhs Right-hand side vector.

Returns:

New vector containing the difference.

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function operator/

Divide by a scalar.

inline Derived inertialsim::geometry::VectorBase::operator/ (
    double scalar
) const

Parameters:

• scalar Scalar divisor.

Returns:

New vector containing the quotient.

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Public Static Functions Documentation

function FromSpherical

Construct from spherical coordinates (radius, polar, azimuth).

static inline Derived inertialsim::geometry::VectorBase::FromSpherical (
    const  Array3D & rpa,
    const std::optional< Timestamps > & time=std::nullopt
) 

Parameters:

• rpa Spherical coordinates (3xN matrix).
• time Optional time array.

Returns:

Derived instance.

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function FromXyz

Construct from Cartesian coordinates.

static inline Derived inertialsim::geometry::VectorBase::FromXyz (
    const  Vector3D & xyz,
    const std::optional< Timestamps > & time=std::nullopt
) 

Parameters:

• xyz Cartesian coordinates (3xN matrix).
• time Optional time array.

Returns:

Derived instance.

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Protected Functions Documentation

function VectorBase [1/2]

Default constructor.

inline inertialsim::geometry::VectorBase::VectorBase () 

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function VectorBase [2/2]

Construct from Cartesian coordinates.

inline explicit inertialsim::geometry::VectorBase::VectorBase (
    const  Vector3D & xyz,
    const std::optional< Timestamps > & time=std::nullopt
) 

Parameters:

• xyz Cartesian coordinates (3xN matrix).
• time Optional time array.

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Friends Documentation

friend operator*

Scalar multiplication from the left (friend declaration).

inline Derived inertialsim::geometry::VectorBase::operator* (
    double scalar,
    const  Derived & vec
) 

Parameters:

• scalar Scalar multiplier.
• vec Vector to multiply.

Returns:

New vector containing the product.

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The documentation for this class was generated from the following file cpp/include/inertialsim/geometry/vector_base.h