Vector.h File Reference

Definitions of small fixed-size vector types. More...

#include <array>
#include <vector>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include "SurgSim/Framework/Assert.h"

Go to the source code of this file.

Namespaces
	SurgSim
	SurgSim::Math

Typedefs
typedef Eigen::Matrix< float, 2, 1 >	SurgSim::Math::Vector2f
	A 2D vector of floats. More...
typedef Eigen::Matrix< float, 3, 1 >	SurgSim::Math::Vector3f
	A 3D vector of floats. More...
typedef Eigen::Matrix< float, 4, 1 >	SurgSim::Math::Vector4f
	A 4D vector of floats. More...
typedef Eigen::Matrix< float, 6, 1 >	SurgSim::Math::Vector6f
	A 6D vector of floats. More...
typedef Eigen::Matrix< double, 2, 1 >	SurgSim::Math::Vector2d
	A 2D vector of doubles. More...
typedef Eigen::Matrix< double, 3, 1 >	SurgSim::Math::Vector3d
	A 3D vector of doubles. More...
typedef Eigen::Matrix< double, 4, 1 >	SurgSim::Math::Vector4d
	A 4D vector of doubles. More...
typedef Eigen::Matrix< double, 6, 1 >	SurgSim::Math::Vector6d
	A 6D matrix of doubles. More...
typedef Eigen::Matrix< double, Eigen::Dynamic, 1 >	SurgSim::Math::Vector
	A dynamic size column vector. More...

Functions
template<class Vector , class SubVector >
void	SurgSim::Math::addSubVector (const SubVector &subVector, size_t blockId, size_t blockSize, Vector *vector)
	Helper method to add a sub-vector into a vector, for the sake of clarity. More...
template<class Vector , class SubVector >
void	SurgSim::Math::addSubVector (const SubVector &subVector, const std::vector< size_t > blockIds, size_t blockSize, Vector *vector)
	Helper method to add a sub-vector per block into a vector, for the sake of clarity. More...
template<class Vector , class SubVector >
void	SurgSim::Math::setSubVector (const SubVector &subVector, size_t blockId, size_t blockSize, Vector *vector)
	Helper method to set a sub-vector into a vector, for the sake of clarity. More...
template<class Vector >
Eigen::VectorBlock< Vector >	SurgSim::Math::getSubVector (Vector &vector, size_t blockId, size_t blockSize)
	Helper method to access a sub-vector from a vector, for the sake of clarity. More...
template<class Vector , class SubVector >
void	SurgSim::Math::getSubVector (const Vector &vector, const std::vector< size_t > blockIds, size_t blockSize, SubVector *subVector)
	Helper method to get a sub-vector per block from a vector, for the sake of clarity. More...
template<typename T , int size, int TOpt>
Eigen::Matrix< T, size, 1, TOpt >	SurgSim::Math::interpolate (const Eigen::Matrix< T, size, 1, TOpt > &previous, const Eigen::Matrix< T, size, 1, TOpt > &next, T t)
	Interpolate (slerp) between 2 vectors. More...
template<class T , int VOpt>
bool	SurgSim::Math::buildOrthonormalBasis (Eigen::Matrix< T, 3, 1, VOpt > *i, Eigen::Matrix< T, 3, 1, VOpt > *j, Eigen::Matrix< T, 3, 1, VOpt > *k)
	Helper method to construct an orthonormal basis (i, j, k) given the 1st vector direction. More...
template<class T , int VOpt>
Eigen::Matrix< T, 3, 1, VOpt >	SurgSim::Math::robustCrossProduct (const std::array< Eigen::Matrix< T, 3, 1, VOpt >, 2 > &p, const std::array< Eigen::Matrix< T, 3, 1, VOpt >, 2 > &q, T epsilon)
	Calculate the best unit normal we can find in the direction of pXq for one of the endpoints of q. More...

Detailed Description

Definitions of small fixed-size vector types.