Physsim::SVector6 Class Reference

A 6-dimensional floating-point vector for use with spatial algebra. More...

#include <SVector6.h>

Inheritance diagram for Physsim::SVector6:

List of all members.

Public Member Functions
	SVector6 ()
	Default constructor.
	SVector6 (Real x, Real y, Real z, Real a, Real b, Real c)
	Constructs this vector with the given values.
	SVector6 (const boost::shared_array< Real > array)
	Constructs this vector from the given array.
	SVector6 (const SVector6 &source)
	Copy constructor.
	SVector6 (const VectorN &source)
	Copy constructor.
	SVector6 (const Vector3 &upper, const Vector3 &lower)
	Constructs the given spatial vector with given upper and lower components.
virtual Real	dot (const SVector6 &v) const
void	set_lower (const Vector3 &lower)
	Sets the lower 3-dimensional vector.
void	set_upper (const Vector3 &upper)
	Sets the upper 3-dimensional vector.
Vector3	get_lower () const
	Gets the lower 3-dimensional vector.
Vector3	get_upper () const
	Gets the upper 3-dimensional vector.
virtual void	operator= (const VectorN &source)
void	operator= (const SVector6 &source)
void	transpose ()
	Sets this vector to its spatial vector transpose.
Static Public Member Functions
static Real	dot (const SVector6 &v1, const SVector6 &v2)
	Performs the dot product.
static SVector6	transpose (const SVector6 &v)
	Returns the spatial transpose of the given vector.

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Detailed Description

A 6-dimensional floating-point vector for use with spatial algebra.

Note that spatial algebra defines the dot product in an unusual manner: if vector x = [a; b] and vector y = [c; d] then x'y = [b'; a'][c d] = dot(b,c) + dot(a,d).

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Constructor & Destructor Documentation

SVector6::SVector6

(

const boost::shared_array< Real >

array

)

Constructs this vector from the given array.

Parameters:

array

a 6-dimensional (or larger) array

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

• /home/drumwrig/Physsim/include/Physsim/SVector6.h
• /home/drumwrig/Physsim/src/SVector6.cpp

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