javax.robotics.vecmath
Class RVector3d

java.lang.Object
  javax.vecmath.Tuple3d
      javax.vecmath.Vector3d
          javax.robotics.vecmath.RVector3d

All Implemented Interfaces:

java.io.Serializable, java.lang.Cloneable

public class RVector3d
extends javax.vecmath.Vector3d

A 3-element vector that is represented by double-precision floating point x,y,z coordinates. If this value represents a normal, then it should be normalized. This class extend printing functionality of Vector3d class.

Since:

1.0.1

Version:

5/10/2005

Author:

Carmine Lia

See Also:

Serialized Form

Field Summary

Fields inherited from class javax.vecmath.Tuple3d

x, y, z

Constructor Summary

RVector3d()
Constructs and initializes a RVector3d to (0,0,0).

RVector3d(double[] vector)
Constructs and initializes a RVector3d from the array of length 3.

RVector3d(double x, double y, double z)
Constructs and initializes a RVector3d from the specified xyz coordinates.

RVector3d(RVector3d vector)
Constructs and initializes a RVector3d from the specified RVector3d.

RVector3d(javax.vecmath.Vector3d vector)
Constructs and initializes a RVector3d from the specified Vector3d.

Method Summary

void	mul(DMatrix D, RVector3d v) Multiplies diagonal matrix D times RVector v and places the result into this vector (this = D*v).
void	mul(RMatrix3d m, RVector3d v) Multiplies matrix m times RVector v and places the result into this vector (this = m*v).
void	printf() Prints to standard out
void	printf(java.io.PrintStream out) Prints to PrintStream
void	printf(java.io.PrintStream out, java.lang.String format) Prints to PrintStream according to the format string
void	printf(java.lang.String format) Prints to standard out according to the format string.
java.lang.String	toString() Returns a string that contains the values of this RVector.
java.lang.String	toString(java.lang.String format) Returns a string that contains the values of this RVector, according to the format string

Methods inherited from class javax.vecmath.Vector3d

angle, cross, dot, length, lengthSquared, normalize, normalize

Methods inherited from class javax.vecmath.Tuple3d

absolute, absolute, add, add, clamp, clamp, clamp, clamp, clampMax, clampMax, clampMax, clampMax, clampMin, clampMin, clampMin, clampMin, clone, epsilonEquals, equals, equals, get, get, hashCode, interpolate, interpolate, interpolate, interpolate, negate, negate, scale, scale, scaleAdd, scaleAdd, scaleAdd, set, set, set, set, sub, sub

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

RVector3d

public RVector3d(RVector3d vector)

Constructs and initializes a RVector3d from the specified RVector3d.

Parameters:

vector - the RVector3d containing the initialization x y z data

RVector3d

public RVector3d(javax.vecmath.Vector3d vector)

Constructs and initializes a RVector3d from the specified Vector3d.

Parameters:

vector - the Vector3d containing the initialization x y z data

RVector3d

public RVector3d(double[] vector)

Constructs and initializes a RVector3d from the array of length 3.

Parameters:

vector - the array of length 3 containing xyz in order

RVector3d

public RVector3d(double x,
                 double y,
                 double z)

Constructs and initializes a RVector3d from the specified xyz coordinates.

Parameters:

x - the x coordinate

y - the y coordinate

z - the z coordinate

RVector3d

public RVector3d()

Constructs and initializes a RVector3d to (0,0,0).

Method Detail

mul

public void mul(RMatrix3d m,
                RVector3d v)

Multiplies matrix m times RVector v and places the result into this vector (this = m*v).

Parameters:

m - the input matrix

v - the input vector

printf

public void printf()

Prints to standard out

printf

public void printf(java.lang.String format)

Prints to standard out according to the format string.

The format specifiers for numeric types have the following syntax:

 %[width][.precision]conversion
 

• The optional width is a non-negative decimal integer indicating the minimum number of characters to be written to the output.
• The optional precision is a non-negative decimal integer usually used to restrict the number of characters. The specific behavior depends on the conversion.
• The required conversion is a character indicating how the argument should be formatted. The set of valid conversions for a given argument depends on the argument's data type.

Example:
v.printf("%5.3f");

Parameters:

format - The format string

See Also:

PrintStream.format(java.lang.String, java.lang.Object[])

printf

public void printf(java.io.PrintStream out)

Prints to PrintStream

Parameters:

out - The PrintStream object.

printf

public void printf(java.io.PrintStream out,
                   java.lang.String format)

Prints to PrintStream according to the format string

Parameters:

out - The PrintStream object.

format - The format string.

See Also:

printf(String)

toString

public java.lang.String toString()

Returns a string that contains the values of this RVector.

Overrides:

toString in class javax.vecmath.Tuple3d

Returns:

The string.

toString

public java.lang.String toString(java.lang.String format)

Returns a string that contains the values of this RVector, according to the format string

Parameters:

format - The format string

Returns:

The string

See Also:

printf(String)

mul

public void mul(DMatrix D,
                RVector3d v)

Multiplies diagonal matrix D times RVector v and places the result into this vector (this = D*v).

Parameters:

D - The diagonal matrix in the multiplication

v - The vector that is multiplied