ERC CISST - cisst software

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Vectors

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Detailed Description

Vectors and matrices, including all the tools for simple 3D computations. The main features of cisstVector are:

• A set of containers for fixed size vectors and matrices. For more information, see vctFixedSizeVector and vctFixedSizeMatrix.

• A set of containers for dynamic vectors, matrices and multi dimensional arrays (nArrays). For more information, see vctDynamicVector, vctDynamicMatrix and vctDynamicNArray.

• A set of classes to overlay vectors, matrices and nArrays over existing cisst containers or data sets allocated using other toolkits or libraries (VTK, OpenGL, Fortran). See vctFixedSizeConstVectorRef, vctFixedSizeVectorRef, vctFixedSizeConstMatrixRef, vctFixedSizeMatrixRef, vctDynamicConstVectorRef, vctDynamicVectorRef, vctDynamicConstMatrixRef, vctDynamicMatrixRef, vctDynamicConstNArrayRef and vctDynamicNArrayRef.

• A definition of a frame based on a translation and a rotation (represented either by a matrix in 2D/3D or a quaternion in 3D). See vctQuaternionRotation3, vctMatrixRotation3, vctRodriguezRotation3, vctAxisAngleRotation3, vctAngleRotation2, vctMatrixRotation2 and vctFrameBase.

• A user friendly API for the most commonly used vectors. For more information, see vctDouble2 (vct2), vctFloat3, vctDouble3x3 (vct2), vctInt3x3, vctAxAnRot3, vctQuatRot3, vctFrm3, etc. The complete lists of defined types can be found in:
  • vctFixedSizeVectorTypes.h
  • vctFixedSizeMatrixTypes.h
  • vctDynamicVectorTypes.h
  • vctDynamicMatrixTypes.h
  • vctTransformationTypes.h

• Some functions for cisstVector classes such as vctRandom.

Note:

All the classes and global functions of cisstVector start with the prefix vct. To use cisstVector, you can either include a specific file with:

  #include <cisstVector/vctXyz.h>

or include all the files with:

  #include <cisstVector.h>

Files

• file vctContainerTraits.h

  Basic traits for the cisstVector containers.
  

• file vctForwardDeclarations.h

  Forward declarations and #define for cisstVector.
  

Classes

• class vctAngleRotation2

  Define a rotation based on an angle for a space of dimension 2. More...
  

• class vctAxisAngleRotation3< _elementType >

  Define a rotation based on an axis and an angle for a space of dimension 3. More...
  

• class vctBarycentricVector< _elementType, _size >
• class vctDynamicConstMatrixRef< _elementType >

  Dynamic matrix referencing existing memory (const). More...
  

• class vctDynamicConstNArrayRef< _elementType, _dimension >

  Dynamic nArray referencing existing memory (const). More...
  

• class vctDynamicConstVectorRef< _elementType >

  Dynamic vector referencing existing memory (const). More...
  

• class vctDynamicMatrix< _elementType >

  A matrix object of dynamic size. More...
  

• class vctDynamicMatrixRef< _elementType >

  Dynamic matrix referencing existing memory. More...
  

• class vctDynamicNArray< _elementType, _dimension >

  An nArray object of dynamic size. More...
  

• class vctDynamicNArrayRef< _elementType, _dimension >

  Dynamic nArray referencing existing memory. More...
  

• class vctDynamicVector< _elementType >

  A vector object of dynamic size. More...
  

• class vctReturnDynamicVector< _elementType >
• class vctDynamicVectorRef< _elementType >

  Dynamic vector referencing existing memory. More...
  

• class vctDynamicVectorRefOwner< _elementType >
• class vctFixedSizeConstMatrixRef< _elementType, _rows, _cols, _rowStride, _colStride >

  An implementation of the ``abstract'' vctFixedSizeConstMatrixBase. More...
  

• class vctFixedSizeConstVectorRef< _elementType, _size, _stride >

  An implementation of the ``abstract'' vctFixedSizeConstVectorBase. More...
  

• class vctFixedSizeMatrix< _elementType, _rows, _cols, _rowMajor >

  Implementation of a fixed-size matrix using template metaprogramming. More...
  

• class vctFixedSizeMatrixRef< _elementType, _rows, _cols, _rowStride, _colStride >

  An implementation of the ``abstract'' vctFixedSizeMatrixBase. More...
  

• class vctFixedSizeVector< _elementType, _size >

  Implementation of a fixed-size vector using template metaprogramming. More...
  

• class vctFixedSizeVectorRef< _elementType, _size, _stride >

  An implementation of the ``abstract'' vctFixedSizeVectorBase. More...
  

• class vctMatrixRotation2< _elementType >

  Define a rotation matrix for a space of dimension 2. More...
  

• class vctMatrixRotation3< _elementType, _rowMajor >

  Define a rotation matrix for a space of dimension 3. More...
  

• class vctMatrixRotation3ConstRef< _elementType, _rowStride, _colStride >

  Define a rotation matrix for a space of dimension 3. More...
  

• class vctMatrixRotation3Ref< _elementType, _rowStride, _colStride >

  Define a rotation matrix for a space of dimension 3. More...
  

• class vctQuaternion< _elementType >

  Define a quaternion container. More...
  

• class vctQuaternionRotation3< _elementType >

  Define a rotation quaternion for a space of dimension 3. More...
  

• class vctRodriguezRotation3< _elementType >

  Define a rotation based on the rodriguez representation for a space of dimension 3. This representation is based on a vector. The direction of the vector determines the axis of rotation and its norm defines the amplitude of the rotation. More...
  

• template<class _containerType> void vctRandom (vctMatrixRotation3Base< _containerType > &matrixRotation)
• template<class _containerType> CISST_EXPORT void vctRandom (vctQuaternionRotation3Base< _containerType > &quaternionRotation)
• template<class _elementType> CISST_EXPORT void vctRandom (vctAxisAngleRotation3< _elementType > &axisAngleRotation)
• template<class _containerType> CISST_EXPORT void vctRandom (vctRodriguezRotation3Base< _containerType > &rodriguezRotation)
• template<class _containerType> CISST_EXPORT void vctRandom (vctMatrixRotation2Base< _containerType > &matrixRotation)
• CISST_EXPORT void vctRandom (vctAngleRotation2 &angleRotation)

Functions

• template<class _matrixOwnerType, typename _elementType> void vctRandom (vctDynamicMatrixBase< _matrixOwnerType, _elementType > &matrix, const typename vctDynamicMatrixBase< _matrixOwnerType, _elementType >::value_type min, const typename vctDynamicMatrixBase< _matrixOwnerType, _elementType >::value_type max)
• template<class _nArrayOwnerType, typename _elementType, vct::size_type _dimension> void vctRandom (vctDynamicNArrayBase< _nArrayOwnerType, _elementType, _dimension > &nArray, const typename vctDynamicNArrayBase< _nArrayOwnerType, _elementType, _dimension >::value_type min, const typename vctDynamicNArrayBase< _nArrayOwnerType, _elementType, _dimension >::value_type max)
• template<class _vectorOwnerType, typename _elementType> void vctRandom (vctDynamicVectorBase< _vectorOwnerType, _elementType > &vector, const typename vctDynamicVectorBase< _vectorOwnerType, _elementType >::value_type min, const typename vctDynamicVectorBase< _vectorOwnerType, _elementType >::value_type max)
• template<vct::size_type _rows, vct::size_type _cols, vct::stride_type _rowStride, vct::stride_type _colStride, class _elementType, class _dataPtrType> void vctRandom (vctFixedSizeMatrixBase< _rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType > &matrix, const _elementType min, const _elementType max)
• template<vct::size_type _size, vct::stride_type _stride, class _elementType, class _dataPtrType> void vctRandom (vctFixedSizeVectorBase< _size, _stride, _elementType, _dataPtrType > &vector, const _elementType min, const _elementType max)

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Function Documentation

CISST_EXPORT void vctRandom

(

vctAngleRotation2 &

angleRotation

)

Define the global function vctRandom to initialize different types of transformation with a random value.

Note:

The function uses the global instance of cmnRandomSequence to extract random values. As we have a vague plan to allow for multiple random sequence objects to coexist, these interfaces may need to be changed.

template<class _containerType>

CISST_EXPORT void vctRandom

(

vctMatrixRotation2Base< _containerType > &

matrixRotation

)

Define the global function vctRandom to initialize different types of transformation with a random value.

Note:

The function uses the global instance of cmnRandomSequence to extract random values. As we have a vague plan to allow for multiple random sequence objects to coexist, these interfaces may need to be changed.

template<class _containerType>

CISST_EXPORT void vctRandom

(

vctRodriguezRotation3Base< _containerType > &

rodriguezRotation

)

Define the global function vctRandom to initialize different types of transformation with a random value.

Note:

The function uses the global instance of cmnRandomSequence to extract random values. As we have a vague plan to allow for multiple random sequence objects to coexist, these interfaces may need to be changed.

template<class _elementType>

CISST_EXPORT void vctRandom

(

vctAxisAngleRotation3< _elementType > &

axisAngleRotation

)

Define the global function vctRandom to initialize different types of transformation with a random value.

Note:

The function uses the global instance of cmnRandomSequence to extract random values. As we have a vague plan to allow for multiple random sequence objects to coexist, these interfaces may need to be changed.

template<class _containerType>

CISST_EXPORT void vctRandom

(

vctQuaternionRotation3Base< _containerType > &

quaternionRotation

)

Define the global function vctRandom to initialize different types of transformation with a random value.

Note:

The function uses the global instance of cmnRandomSequence to extract random values. As we have a vague plan to allow for multiple random sequence objects to coexist, these interfaces may need to be changed.

template<class _containerType>

void vctRandom

(

vctMatrixRotation3Base< _containerType > &

matrixRotation

)

Define the global function vctRandom to initialize different types of transformation with a random value.

Note:

The function uses the global instance of cmnRandomSequence to extract random values. As we have a vague plan to allow for multiple random sequence objects to coexist, these interfaces may need to be changed.

template<vct::size_type _size, vct::stride_type _stride, class _elementType, class _dataPtrType>

void vctRandom	(	vctFixedSizeVectorBase< _size, _stride, _elementType, _dataPtrType > &	vector,
		const _elementType	min,
		const _elementType	max
	)

Define the global function vctRandom to initialize a fixed size vector with random elements. The function takes a range from which to choose random elements.

Note:

The function uses the global instance of cmnRandomSequence to extract random values. As we have a vague plan to allow for multiple random sequence objects to coexist, these interfaces may need to be changed.

Definition at line 50 of file vctRandomFixedSizeVector.h.

References cmnRandomSequence::ExtractRandomValue(), cmnRandomSequence::GetInstance(), and vctFixedSizeConstVectorBase< _size, _stride, _elementType, _dataPtrType >::size().

template<vct::size_type _rows, vct::size_type _cols, vct::stride_type _rowStride, vct::stride_type _colStride, class _elementType, class _dataPtrType>

void vctRandom	(	vctFixedSizeMatrixBase< _rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType > &	matrix,
		const _elementType	min,
		const _elementType	max
	)

Define the global function vctRandom to initialize a fixed size matrix with random elements. The function takes a range from which to choose random elements.

Note:

The function uses the global instance of cmnRandomSequence to extract random values. As we have a vague plan to allow for multiple random sequence objects to coexist, these interfaces may need to be changed.

Definition at line 52 of file vctRandomFixedSizeMatrix.h.

References cmnRandomSequence::ExtractRandomValue(), and cmnRandomSequence::GetInstance().

template<class _vectorOwnerType, typename _elementType>

void vctRandom	(	vctDynamicVectorBase< _vectorOwnerType, _elementType > &	vector,
		const typename vctDynamicVectorBase< _vectorOwnerType, _elementType >::value_type	min,
		const typename vctDynamicVectorBase< _vectorOwnerType, _elementType >::value_type	max
	)

Define the global function vctRandom to initialize a dynamic vector with random elements. The function takes a range from which to choose random elements.

Note:

The function uses the global instance of cmnRandomSequence to extract random values. As we have a vague plan to allow for multiple random sequence objects to coexist, these interfaces may need to be changed.

Definition at line 50 of file vctRandomDynamicVector.h.

References cmnRandomSequence::ExtractRandomValue(), cmnRandomSequence::GetInstance(), and vctDynamicConstVectorBase< _vectorOwnerType, _elementType >::size().

template<class _nArrayOwnerType, typename _elementType, vct::size_type _dimension>

void vctRandom	(	vctDynamicNArrayBase< _nArrayOwnerType, _elementType, _dimension > &	nArray,
		const typename vctDynamicNArrayBase< _nArrayOwnerType, _elementType, _dimension >::value_type	min,
		const typename vctDynamicNArrayBase< _nArrayOwnerType, _elementType, _dimension >::value_type	max
	)

Define the global function vctRandom to initialize a dynamic nArray with random elements. The function takes a range from which to choose random elements.

Note:

The function uses the global instance of cmnRandomSequence to extract random values. As we have a vague plan to allow for multiple random sequence objects to coexist, these interfaces may need to be changed.

Definition at line 51 of file vctRandomDynamicNArray.h.

References vctDynamicNArrayBase< _nArrayOwnerType, _elementType, _dimension >::begin(), vctDynamicNArrayBase< _nArrayOwnerType, _elementType, _dimension >::end(), cmnRandomSequence::ExtractRandomValue(), and cmnRandomSequence::GetInstance().

template<class _matrixOwnerType, typename _elementType>

void vctRandom	(	vctDynamicMatrixBase< _matrixOwnerType, _elementType > &	matrix,
		const typename vctDynamicMatrixBase< _matrixOwnerType, _elementType >::value_type	min,
		const typename vctDynamicMatrixBase< _matrixOwnerType, _elementType >::value_type	max
	)

Define the global function vctRandom to initialize a dynamic matrix with random elements. The function takes a range from which to choose random elements.

Note:

The function uses the global instance of cmnRandomSequence to extract random values. As we have a vague plan to allow for multiple random sequence objects to coexist, these interfaces may need to be changed.

Definition at line 50 of file vctRandomDynamicMatrix.h.

References vctDynamicConstMatrixBase< _matrixOwnerType, _elementType >::cols(), vctDynamicMatrixBase< _matrixOwnerType, _elementType >::Element(), cmnRandomSequence::ExtractRandomValue(), cmnRandomSequence::GetInstance(), and vctDynamicConstMatrixBase< _matrixOwnerType, _elementType >::rows().

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