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ctSpatialVector6 Class Reference

wacky vectors that have certain mathematical properties that allow for an O(n) forward dynamics articulated body solver. More...

#include <ctvspat.h>

List of all members.

Public Methods

ctSpatialVector6 (const ctVector3 &pa, const ctVector3 &pb)

ctSpatialVector6 ()

ctSpatialVector6 (real pone, real ptwo, real pthree, real p2one, real p2two, real p2three)

real operator[] (const int index) const

real& operator[] (const int index)

ctVectorTranspose6 transpose ()

spatial transpose is a special operation.

real spatial_dot (ctSpatialVector6 &pb)

do a spatial dot and return scalar.

ctVectorTranspose6 operator! ()

void set_a (const ctVector3 &pa)

angular component. *Danger* notational collision. a is NOT linear acceleration.

void set_b (const ctVector3 &pb)

linear component.

ctVector3 get_a ()

angular component. *Danger* notational collision. a is NOT linear acceleration.

ctVector3 get_b ()

linear component.

void operator= (const ctSpatialVector6 &pm)

real length ()

return length of this vector.

ctSpatialVector6 unit ()

return a vector of unit length in same direction as this vector.

void normalize ()

void zero ()

set all elements to zero.

void add (const ctSpatialVector6 &px)

void add2 (const ctSpatialVector6 &px, const ctSpatialVector6 &py)

void add3 (ctSpatialVector6 &pdest, const ctSpatialVector6 &px, const ctSpatialVector6 &py)

void add_scaled (ctSpatialVector6 &padme, real pk)

void add_scaled (real pk, ctSpatialVector6 &padme)

void operator+= (const ctSpatialVector6 &p)

ctSpatialVector6 operator+ (const ctSpatialVector6 &p) const

void subtract (const ctSpatialVector6 &px)

this = this + x.

void subtract2 (const ctSpatialVector6 &px, const ctSpatialVector6 &py)

this = x + y.

void subtract3 (ctSpatialVector6 &pdest, const ctSpatialVector6 &px, const ctSpatialVector6 &py)

dest = x + y.

void operator-= (const ctSpatialVector6 &p)

ctSpatialVector6 operator- (const ctSpatialVector6 &p)

ctSpatialVector6 operator- (const ctSpatialVector6 &p) const

real operator * (const ctSpatialVector6 &p)

real operator * (const ctSpatialVector6 &p) const

ctSpatialVector6 operator * (const real pk)

ctSpatialVector6 operator * (const real pk) const

ctSpatialVector6 operator/ (const real pk)

void operator *= (const real p)

void operator/= (const real p)

ctSpatialMatrix6 operator * (const ctVectorTranspose6 &pvt)

int get_dimension ()

real* get_elements ()

Protected Attributes

real elements [6]

Detailed Description

wacky vectors that have certain mathematical properties that allow for an O(n) forward dynamics articulated body solver.

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