#include <translation2d.h>

Description

template<LinearKinematicQuantity Q>
class LinearVector2d< Q >

Class representing a 2d vector. Depending on unit this could be a Translation2d, Velocity2d, Acceleration2d, Jerk2d, or other

Assumes conventional cartesian coordinate system: Looking down at the coordinate plane, +X is right +Y is up +Theta is counterclockwise

Public Member Functions
constexpr	LinearVector2d ()
	Default Constructor for LinearVector2d valued (0, 0).
constexpr	LinearVector2d (Q x, Q y)
constexpr	LinearVector2d (Q r, Rotation2d theta)
constexpr	LinearVector2d (Eigen::Vector2d vector, Q unit)
constexpr Q	x () const
	Gets the x component.
constexpr double	x (Q unit) const
	Gets x in the supplied unit.
constexpr void	set_x (Q val)
	Sets the x component.
constexpr Q	y () const
	Gets the y component.
constexpr double	y (Q unit) const
	Gets y in the supplied unit.
constexpr void	set_y (Q val)
	Sets the y component.
constexpr Rotation2d	theta () const
	Gets the angle of the vector from the x axis.
constexpr Eigen::Vector2d	as_vector (Q unit) const
constexpr Q	norm () const
	Gets the norm of the vector.
constexpr LinearVector2d	normalize (Q magnitude=Q(1.0)) const
constexpr Q	distance (LinearVector2d other) const
	Gets the distance between two vectors.
constexpr LinearVector2d	interpolate (LinearVector2d end, double fraction) const
constexpr LinearVector2d	rotate_by (Rotation2d rotation) const
constexpr LinearVector2d	rotate_around (LinearVector2d other, Rotation2d rotation) const
constexpr LinearVector2d	inverse () const
constexpr units::Multiplied< Q, Q >	dot (LinearVector2d other) const
constexpr LinearVector2d	operator+ (LinearVector2d other) const
	Adds another vector to this vector component wise.
constexpr LinearVector2d &	operator+= (LinearVector2d other)
	Adds another vector to this vector component wise.
constexpr LinearVector2d	operator- (LinearVector2d other) const
	Subtracts another vector from this vector component wise.
constexpr LinearVector2d &	operator-= (LinearVector2d other)
	Subtracts another vector from this vector component wise.
constexpr LinearVector2d	operator- () const
	Inverts this vector (flipped across origin).
constexpr LinearVector2d	operator* (double scalar) const
	Multiplies this vector by a scalar.
template<units::IsQuantity S> requires LinearKinematicQuantity<units::Multiplied<Q, S>>
constexpr LinearVector2d< units::Multiplied< Q, S > >	operator* (S scalar) const
constexpr units::Multiplied< Q, Q >	operator* (LinearVector2d other) const
constexpr LinearVector2d &	*operator=** (double scalar)
	Multiplies this vector by a scalar.
constexpr LinearVector2d	operator/ (double scalar) const
	Divides this vector by a scalar.
template<units::IsQuantity S> requires LinearKinematicQuantity<units::Divided<Q, S>>
constexpr LinearVector2d< units::Divided< Q, S > >	operator/ (S scalar) const
constexpr LinearVector2d &	operator/= (double scalar)
	Divides this vector by a scalar.
constexpr bool	operator== (LinearVector2d other) const
	Checks exact equality between this and another vector.
constexpr bool	is_near (LinearVector2d other, Q tolerance=Q(1e-6)) const

Static Public Member Functions
static constexpr LinearVector2d	mean (const std::vector< LinearVector2d > &list)

Friends
constexpr LinearVector2d	operator* (double scalar, LinearVector2d vector)
	Multiplies a scalar by this vector.
template<units::IsQuantity S> requires LinearKinematicQuantity<units::Multiplied<Q, S>>
constexpr auto	operator* (S scalar, LinearVector2d vector)

Constructor & Destructor Documentation

◆ LinearVector2d() [1/3]

template<LinearKinematicQuantity Q>

LinearVector2d< Q >::LinearVector2d	(	Q	x,
		Q	y )

inlineconstexpr

Constructs a vector with the given x and y values.

Parameters

x	The x component of the vector.
y	The y component of the vector.

◆ LinearVector2d() [2/3]

template<LinearKinematicQuantity Q>

LinearVector2d< Q >::LinearVector2d	(	Q	r,
		Rotation2d	theta )

inlineconstexpr

Constructs a vector given polar coordinates of the form (r, theta).

Parameters

r	The magnitude of the vector.
theta	The angle of the vector.

◆ LinearVector2d() [3/3]

template<LinearKinematicQuantity Q>

LinearVector2d< Q >::LinearVector2d	(	Eigen::Vector2d	vector,
		Q	unit )

inlineconstexpr

Constructs a vector with the values from the given Eigen::Vector.

Parameters

vector	The vector whose values will be used.
unit	The unit to use when assigning x and y (e.g. units::inches)

Member Function Documentation

◆ as_vector()

template<LinearKinematicQuantity Q>

Eigen::Vector2d LinearVector2d< Q >::as_vector ( Q unit ) const

inlineconstexpr

Returns the vector as an Eigen::Vector2d.

Parameters

unit	The unit to get the x and y components as (e.g. units::inches)

Returns: Eigen::Vector2d with the same values as the vector.

◆ dot()

template<LinearKinematicQuantity Q>

units::Multiplied< Q, Q > LinearVector2d< Q >::dot ( LinearVector2d< Q > other ) const

inlineconstexpr

Returns the dot product of two vectors. The result has the product of the two component units.

[scalar] = [x][otherx] + [y][othery]

Parameters

other the other vector to dot with.

Returns: The dot product of this and other.

◆ interpolate()

template<LinearKinematicQuantity Q>

LinearVector2d LinearVector2d< Q >::interpolate	(	LinearVector2d< Q >	end,
		double	fraction ) const

inlineconstexpr

Interpolates along a straight line to another vector. Fractions outside [0, 1] return the nearest endpoint.

Parameters

end	endpoint
fraction	percent of the way between the points

Returns: interpolated vector

◆ inverse()

template<LinearKinematicQuantity Q>

LinearVector2d LinearVector2d< Q >::inverse ( ) const

inlineconstexpr

Returns the inverse of this vector, or mirrors it across the origin. [x] = [-x] [y] = [-y]

Returns: The inverse of this vector.

◆ is_near()

template<LinearKinematicQuantity Q>

bool LinearVector2d< Q >::is_near	(	LinearVector2d< Q >	other,
		Q	tolerance = Q(1e-6) ) const

inlineconstexpr

Checks the distance between vectors against a tolerance. Defaults to 1um for translations, 1um/s for velocities, etc.

◆ mean()

template<LinearKinematicQuantity Q>

constexpr LinearVector2d LinearVector2d< Q >::mean ( const std::vector< LinearVector2d< Q > > & list )

inlinestaticconstexpr

Calculates the mean of a list of vectors.

Parameters

list	std::vector containing a list of vectors.

Returns: the single vector mean of the list of vectors.

◆ normalize()

template<LinearKinematicQuantity Q>

LinearVector2d LinearVector2d< Q >::normalize ( Q magnitude = Q(1.0) ) const

inlineconstexpr

Returns a vector of the same angle, but specific magnitude (default 1 base unit)

Parameters

magnitude magnitude of the vector (default 1 base unit).

Returns: The normalized vector.

◆ operator*() [1/2]

template<LinearKinematicQuantity Q>

units::Multiplied< Q, Q > LinearVector2d< Q >::operator* ( LinearVector2d< Q > other ) const

inlineconstexpr

Returns the dot product of two vectors. The result has the product of the two component units.

[scalar] = [x][otherx] + [y][othery]

Parameters

other the other vector to dot with.

Returns: The dot product of this and other.

◆ operator*() [2/2]

template<LinearKinematicQuantity Q>

template<units::IsQuantity S>
requires LinearKinematicQuantity<units::Multiplied<Q, S>>

LinearVector2d< units::Multiplied< Q, S > > LinearVector2d< Q >::operator* ( S scalar ) const

inlineconstexpr

Multiplies this vector by a scalar with a unit of time. e.g. Velocity2d * Time = Translation2d

◆ rotate_around()

template<LinearKinematicQuantity Q>

LinearVector2d LinearVector2d< Q >::rotate_around	(	LinearVector2d< Q >	other,
		Rotation2d	rotation ) const

inlineconstexpr

Applies a rotation to this vector around another given vector.

[x] = [cos, -sin][x - otherx] + [otherx] [y] = [sin, cos][y - othery] + [othery]

Parameters

other	the center of rotation.
rotation	the angle amount the vector will be rotated.

Returns: The vector that has been rotated.

◆ rotate_by()

template<LinearKinematicQuantity Q>

LinearVector2d LinearVector2d< Q >::rotate_by ( Rotation2d rotation ) const

inlineconstexpr

Rotates this vector around the origin by the provided rotation.

Equivalent to multiplying a vector by a rotation matrix: x = [cos, -sin][x] y = [sin, cos][y]

Parameters

rotation the angle amount to rotate.

Returns: The new vector that has been rotated around the origin.

◆ operator*

template<LinearKinematicQuantity Q>

template<units::IsQuantity S>
requires LinearKinematicQuantity<units::Multiplied<Q, S>>

auto operator*	(	S	scalar,
		LinearVector2d< Q >	vector )

friend

Multiplies a scalar with a unit of time by this vector. e.g. Time * Velocity2d = Translation2d

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

core/math/geometry/translation2d.h

Description

Public Member Functions

Static Public Member Functions

Friends

Constructor & Destructor Documentation

◆ LinearVector2d() [1/3]

◆ LinearVector2d() [2/3]

◆ LinearVector2d() [3/3]

Member Function Documentation

◆ as_vector()

◆ dot()

◆ interpolate()

◆ inverse()

◆ is_near()

◆ mean()

◆ normalize()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ rotate_around()

◆ rotate_by()

Friends And Related Symbol Documentation

◆ operator*