Point6D Class Reference

Wraps six double precision (8-byte) floating point numbers. More...

#include <Point6D.h>

Inheritance diagram for Point6D:

Collaboration diagram for Point6D:

Public Member Functions
void	setX (const double x)
	X, and also U=dX/dt. More...
double	getX () const
void	setY (const double y)
	Y, and also V=dY/dt. More...
double	getY () const
void	setZ (const double z)
	Z, and also W=dZ/dt. More...
double	getZ () const
void	setRoll (const double roll)
	X axis rotation, also Roll, Phi, and P=dPhi/dt. More...
double	getRoll () const
void	setPitch (const double pitch)
	Y axis rotation, also Pitch, Theta, and Q=dPtheta/dt. More...
double	getPitch () const
void	setHeading (const double heading)
	Z axis rotation, also Heading, Psi, and R=dPsi/dt. More...
double	getHeading () const
void	setU (const double u)
	U – alias for dX/dt. More...
double	getU () const
void	setV (const double v)
	V – alias for dY/dt. More...
double	getV () const
void	setW (const double w)
	W – alias for dZ/dt. More...
double	getW () const
void	setP (const double p)
	P – alias for dRoll/dt. More...
double	getP () const
void	setQ (const double q)
	Q – alias for dPitch/dt. More...
double	getQ () const
void	setR (const double r)
	R – alias for dHeading/dt. More...
double	getR () const
	Point6D ()
	Default constructior. More...
	Point6D (const double &init)
	Single value constructior. More...
	Point6D (const double &x, const double &y, const double &z, const double &roll, const double &pitch, const double &heading)
	Multi value constructior. More...
	Point6D (const Point6D &value)
	Copy Constructor. More...
virtual	~Point6D ()
	Destructor. More...
Point6D *	copy () const
	Return a pointer to a new copy. More...
virtual Str	toString () const
Point6D &	operator= (const Point6D &rhs)
Point6D &	operator= (const double rhs)
Point6D &	operator+= (const Point6D &rhs)
Point6D &	operator+= (const Point3D &rhs)
Point6D &	operator+= (const double rhs)
Point6D &	operator-= (const Point6D &rhs)
Point6D &	operator-= (const double rhs)
Point6D &	operator*= (const Point6D &rhs)
Point6D &	operator*= (const double rhs)
Point6D &	addProduct (Matrix6x6 &lhs, Point6D &rhs)
Point6D &	addProduct (const Point6D &lhs, const double rhs)
Point6D &	addProduct (const Point3D &lhs, const double rhs)
Point6D &	toAbs ()
double &	operator[] (int index)
const double	absSum () const
const double	sum () const
const double	sumSquared () const
virtual double *	getPtr1d ()
	Implement abstract I1D method. More...
virtual int	getM () const
	Implement abstract I2D method. More...
Public Member Functions inherited from I1D< double >
virtual	~I1D ()

Protected Attributes
double	value_ [6]

Additional Inherited Members
Static Public Member Functions inherited from I1D< double >
static double *	New1D (int m, bool extra=false)
static void	Delete1D (double *array)
Protected Member Functions inherited from I1D< double >
	I1D ()
	I1D (const I1D &)

Detailed Description

Wraps six double precision (8-byte) floating point numbers.

The 6 numbers are normally accessed as

• x, y, z, pitch, roll, heading
  -OR-
• u, v, w, p, q, r

Constructor & Destructor Documentation

Point6D::Point6D

(

)

Default constructior.

Referenced by copy().

Point6D::Point6D

(

const double &

init

)

Single value constructior.

Point6D::Point6D	(	const double &	x,
		const double &	y,
		const double &	z,
		const double &	roll,
		const double &	pitch,
		const double &	heading
	)

Multi value constructior.

References setHeading(), setPitch(), setRoll(), setX(), setY(), and setZ().

Point6D::Point6D

(

const Point6D &

value

)

Copy Constructor.

virtual Point6D::~Point6D ( )

inlinevirtual

Destructor.

Member Function Documentation

const double Point6D::absSum

(

)

const

References getHeading(), getPitch(), getRoll(), getX(), getY(), and getZ().

Referenced by Simulator::motion().

Point6D & Point6D::addProduct	(	Matrix6x6 &	lhs,
		Point6D &	rhs
	)

References getP(), Matrix6x6::getPtr1d(), getPtr1d(), getQ(), getR(), getX(), getY(), getZ(), setP(), setQ(), setR(), setX(), setY(), and setZ().

Referenced by Simulator::motion().

Point6D & Point6D::addProduct	(	const Point6D &	lhs,
		const double	rhs
	)

References getHeading(), getPitch(), getRoll(), getX(), getY(), getZ(), setHeading(), setPitch(), setRoll(), setX(), setY(), and setZ().

Point6D & Point6D::addProduct	(	const Point3D &	lhs,
		const double	rhs
	)

References Point3D::getX(), getX(), Point3D::getY(), getY(), Point3D::getZ(), getZ(), setX(), setY(), and setZ().

Point6D * Point6D::copy

(

)

const

Return a pointer to a new copy.

References Point6D().

double Point6D::getHeading ( ) const

inline

References value_.

Referenced by absSum(), addProduct(), Simulator::calcForce(), Simulator::invertMass(), Matrix3x3::Matrix3x3(), Matrix6x6::Matrix6x6(), operator*=(), operator+=(), operator-=(), operator=(), Simulator::publishState(), Simulator::run(), sum(), sumSquared(), and toAbs().

virtual int Point6D::getM ( ) const

inlinevirtual

Implement abstract I2D method.

Implements I1D< double >.

double Point6D::getP ( ) const

inline

References value_.

Referenced by addProduct(), Simulator::calcFinForces(), Simulator::calcForce(), and Simulator::publishState().

double Point6D::getPitch ( ) const

inline

References value_.

Referenced by absSum(), addProduct(), Simulator::calcForce(), Simulator::invertMass(), Matrix3x3::Matrix3x3(), Matrix6x6::Matrix6x6(), operator*=(), operator+=(), operator-=(), operator=(), Simulator::publishState(), sum(), sumSquared(), and toAbs().

virtual double* Point6D::getPtr1d ( void  )

inlinevirtual

Implement abstract I1D method.

Implements I1D< double >.

References value_.

Referenced by addProduct().

double Point6D::getQ ( ) const

inline

References value_.

Referenced by addProduct(), Simulator::calcFinForces(), Simulator::calcForce(), and Simulator::publishState().

double Point6D::getR ( ) const

inline

References value_.

Referenced by addProduct(), Simulator::calcFinForces(), Simulator::calcForce(), and Simulator::publishState().

double Point6D::getRoll ( ) const

inline

References value_.

Referenced by absSum(), addProduct(), Simulator::calcForce(), Simulator::invertMass(), Matrix3x3::Matrix3x3(), Matrix6x6::Matrix6x6(), operator*=(), operator+=(), operator-=(), operator=(), Simulator::publishState(), sum(), sumSquared(), and toAbs().

double Point6D::getU ( ) const

inline

References value_.

Referenced by Simulator::calcFinForces(), Simulator::calcForce(), and Simulator::publishState().

double Point6D::getV ( ) const

inline

References value_.

Referenced by Simulator::calcFinForces(), Simulator::calcForce(), and Simulator::publishState().

double Point6D::getW ( ) const

inline

References value_.

Referenced by Simulator::calcFinForces(), Simulator::calcForce(), and Simulator::publishState().

double Point6D::getX ( ) const

inline

References value_.

Referenced by absSum(), addProduct(), Simulator::calcForce(), Simulator::invertMass(), Simulator::motion(), operator*=(), operator+=(), operator-=(), operator=(), Simulator::publishState(), sum(), sumSquared(), and toAbs().

double Point6D::getY ( ) const

inline

References value_.

Referenced by absSum(), addProduct(), Simulator::calcForce(), Simulator::invertMass(), operator*=(), operator+=(), operator-=(), operator=(), Simulator::publishState(), sum(), sumSquared(), and toAbs().

double Point6D::getZ ( ) const

inline

References value_.

Referenced by absSum(), addProduct(), Simulator::calcForce(), Simulator::invertMass(), operator*=(), operator+=(), operator-=(), operator=(), Simulator::publishState(), EnvSimulator::simulateSensors(), sum(), sumSquared(), and toAbs().

Point6D & Point6D::operator*=

(

const Point6D &

rhs

)

References getHeading(), getPitch(), getRoll(), getX(), getY(), getZ(), setHeading(), setPitch(), setRoll(), setX(), setY(), and setZ().

Point6D & Point6D::operator*=

(

const double

rhs

)

References getHeading(), getPitch(), getRoll(), getX(), getY(), getZ(), setHeading(), setPitch(), setRoll(), setX(), setY(), and setZ().

Point6D & Point6D::operator+=

(

const Point6D &

rhs

)

References getHeading(), getPitch(), getRoll(), getX(), getY(), getZ(), setHeading(), setPitch(), setRoll(), setX(), setY(), and setZ().

Point6D & Point6D::operator+=

(

const Point3D &

rhs

)

References Point3D::getX(), getX(), Point3D::getY(), getY(), Point3D::getZ(), getZ(), setX(), setY(), and setZ().

Point6D & Point6D::operator+=

(

const double

rhs

)

References getHeading(), getPitch(), getRoll(), getX(), getY(), getZ(), setHeading(), setPitch(), setRoll(), setX(), setY(), and setZ().

Point6D & Point6D::operator-=

(

const Point6D &

rhs

)

References getHeading(), getPitch(), getRoll(), getX(), getY(), getZ(), setHeading(), setPitch(), setRoll(), setX(), setY(), and setZ().

Point6D & Point6D::operator-=

(

const double

rhs

)

References getHeading(), getPitch(), getRoll(), getX(), getY(), getZ(), setHeading(), setPitch(), setRoll(), setX(), setY(), and setZ().

Point6D & Point6D::operator=

(

const Point6D &

rhs

)

References getHeading(), getPitch(), getRoll(), getX(), getY(), getZ(), setHeading(), setPitch(), setRoll(), setX(), setY(), and setZ().

Point6D & Point6D::operator=

(

const double

rhs

)

References setHeading(), setPitch(), setRoll(), setX(), setY(), and setZ().

double & Point6D::operator[]

(

int

index

)

References value_.

void Point6D::setHeading ( const double  heading )

inline

Z axis rotation, also Heading, Psi, and R=dPsi/dt.

References value_.

Referenced by addProduct(), Simulator::calcForce(), Simulator::loadParams(), operator*=(), operator+=(), operator-=(), operator=(), Point6D(), Simulator::run(), Simulator::setHeading(), and toAbs().

void Point6D::setP ( const double  p )

inline

P – alias for dRoll/dt.

References value_.

Referenced by addProduct(), and Simulator::loadParams().

void Point6D::setPitch ( const double  pitch )

inline

Y axis rotation, also Pitch, Theta, and Q=dPtheta/dt.

References value_.

Referenced by addProduct(), Simulator::calcForce(), Simulator::loadParams(), operator*=(), operator+=(), operator-=(), operator=(), Point6D(), Simulator::setPitch(), and toAbs().

void Point6D::setQ ( const double  q )

inline

Q – alias for dPitch/dt.

References value_.

Referenced by addProduct(), and Simulator::loadParams().

void Point6D::setR ( const double  r )

inline

R – alias for dHeading/dt.

References value_.

Referenced by addProduct(), and Simulator::loadParams().

void Point6D::setRoll ( const double  roll )

inline

X axis rotation, also Roll, Phi, and P=dPhi/dt.

References value_.

Referenced by addProduct(), Simulator::calcForce(), Simulator::loadParams(), operator*=(), operator+=(), operator-=(), operator=(), Point6D(), Simulator::setRoll(), and toAbs().

void Point6D::setU ( const double  u )

inline

U – alias for dX/dt.

References value_.

Referenced by Simulator::loadParams().

void Point6D::setV ( const double  v )

inline

V – alias for dY/dt.

References value_.

Referenced by Simulator::loadParams().

void Point6D::setW ( const double  w )

inline

W – alias for dZ/dt.

References value_.

Referenced by Simulator::loadParams().

void Point6D::setX ( const double  x )

inline

X, and also U=dX/dt.

References value_.

Referenced by addProduct(), Simulator::calcForce(), Simulator::loadParams(), operator*=(), operator+=(), operator-=(), operator=(), Point6D(), Simulator::publishState(), and toAbs().

void Point6D::setY ( const double  y )

inline

Y, and also V=dY/dt.

References value_.

Referenced by addProduct(), Simulator::calcForce(), Simulator::loadParams(), operator*=(), operator+=(), operator-=(), operator=(), Point6D(), Simulator::publishState(), and toAbs().

void Point6D::setZ ( const double  z )

inline

Z, and also W=dZ/dt.

References value_.

Referenced by addProduct(), Simulator::calcForce(), Simulator::loadParams(), operator*=(), operator+=(), operator-=(), operator=(), Point6D(), Simulator::setDepth(), and toAbs().

const double Point6D::sum

(

)

const

References getHeading(), getPitch(), getRoll(), getX(), getY(), and getZ().

const double Point6D::sumSquared

(

)

const

References getHeading(), getPitch(), getRoll(), getX(), getY(), and getZ().

Point6D & Point6D::toAbs

(

)

References getHeading(), getPitch(), getRoll(), getX(), getY(), getZ(), setHeading(), setPitch(), setRoll(), setX(), setY(), and setZ().

Str Point6D::toString ( ) const

virtual

References value_.

Referenced by Simulator::motion().

Member Data Documentation

double Point6D::value_[6]

protected

Referenced by getHeading(), getP(), getPitch(), getPtr1d(), getQ(), getR(), getRoll(), getU(), getV(), getW(), getX(), getY(), getZ(), operator[](), setHeading(), setP(), setPitch(), setQ(), setR(), setRoll(), setU(), setV(), setW(), setX(), setY(), setZ(), and toString().

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

• /Volumes/ubuntu_share/lrauv-application/Source/data/Point6D.h
• /Volumes/ubuntu_share/lrauv-application/Source/data/Point6D.cpp