Passer::LinearAlgebra::Spherical Struct Reference

A spherical vector. More...

#include <Spherical.h>

Public Member Functions
	Spherical ()
	Create a new spherical vector with zero degrees and distance.
	Spherical (float distance, Angle horizontalAngle, Angle verticalAngle)
	Create a new spherical vector.
	Spherical (Polar polar)
	Convert polar coordinates to spherical coordinates.
	Spherical (Vector3 v)
	Convert 3D carthesian coordinates to spherical coordinates.
bool	operator== (const Spherical &v) const
	Equality test to another vector.
float	magnitude () const
	The vector length.
Spherical	normalized () const
	Convert the vector to a length of a.
Spherical	operator- () const
	Negate the vector.
Spherical	operator*= (float f)
Spherical	operator/= (float f)

Static Public Member Functions
static float	Magnitude (const Spherical &v)
	The vector length.
static Spherical	Normalize (const Spherical &v)
	Convert the vector to a length of 1.
static Spherical	Rotate (const Spherical &v, Angle horizontalAngle, Angle verticalAngle)
	The distance between two vectors.
static Spherical	RotateHorizontal (const Spherical &v, Angle angle)
static Spherical	RotateVertical (const Spherical &v, Angle angle)

Public Attributes
float	distance
	The distance in meters.
Angle	horizontalAngle
	The angle in the horizontal plane in degrees, clockwise rotation.
Angle	verticalAngle
	The angle in the vertical plane in degrees. Positive is upward.

Static Public Attributes
static const Spherical	zero = Spherical(0.0f, 0.0f, 0.0f)
	A spherical vector with zero degree angles and distance.
static const Spherical	forward = Spherical(1.0f, 0.0f, 0.0f)
	A normalized forward-oriented vector.
static const Spherical	back = Spherical(1.0f, 180.0f, 0.0f)
	A normalized back-oriented vector.
static const Spherical	right = Spherical(1.0f, 90.0f, 0.0f)
	A normalized right-oriented vector.
static const Spherical	left = Spherical(1.0f, -90.0f, 0.0f)
	A normalized left-oriented vector.
static const Spherical	up = Spherical(1.0f, 0.0f, 90.0f)
	A normalized up-oriented vector.
static const Spherical	down = Spherical(1.0f, 0.0f, -90.0f)
	A normalized down-oriented vector.

Friends
Spherical	operator* (const Spherical &v, float f)
	Scale the vector uniformly up.
Spherical	operator* (float f, const Spherical &v)
Spherical	operator/ (const Spherical &v, float f)
	Scale the vector uniformly down.
Spherical	operator/ (float f, const Spherical &v)

Detailed Description

A spherical vector.

This is a vector in 3D space using a spherical coordinate system. It consists of a distance and the polar and elevation angles from a reference direction. The reference direction is typically thought of as a forward direction.

Constructor & Destructor Documentation

Spherical() [1/4]

Spherical::Spherical

(

)

Create a new spherical vector with zero degrees and distance.

Spherical() [2/4]

Spherical::Spherical	(	float	distance,
		Angle	horizontalAngle,
		Angle	verticalAngle
	)

Create a new spherical vector.

Parameters

distance	The distance in meters
horizontalAngle	The angle in the horizontal plane in degrees, clockwise rotation
verticalAngle	The angle in the vertical plan in degrees, zero is forward, positive is upward

Spherical() [3/4]

Spherical::Spherical

(

Polar

polar

)

Convert polar coordinates to spherical coordinates.

Parameters

polar

The polar coordinate

Spherical() [4/4]

Spherical::Spherical

(

Vector3

v

)

Convert 3D carthesian coordinates to spherical coordinates.

Parameters

v	Vector in 3D carthesian coordinates;

Member Function Documentation

operator==()

bool Spherical::operator==

(

const Spherical &

v

)

const

Equality test to another vector.

Parameters

v	The vector to check against

Returns

true: if it is identical to the given vector

Note

This uses float comparison to check equality which may have strange effects. Equality on floats should be avoided.

Magnitude()

static float Passer::LinearAlgebra::Spherical::Magnitude ( const Spherical &  v )

inlinestatic

The vector length.

Parameters

v	The vector for which you need the length

Returns

The vector length;

magnitude()

float Passer::LinearAlgebra::Spherical::magnitude ( ) const

inline

The vector length.

Returns

The vector length

Normalize()

Spherical Spherical::Normalize ( const Spherical &  v )

static

Convert the vector to a length of 1.

Parameters

v	The vector to convert

Returns

The vector normalized to a length of 1

normalized()

Spherical Spherical::normalized

(

)

const

Convert the vector to a length of a.

Returns

The vector normalized to a length of 1

operator-()

Spherical Spherical::operator-

(

)

const

Negate the vector.

Returns

The negated vector This will rotate the vector by 180 degrees horizontally and vertically. Distance will stay the same.

operator*=()

Spherical Spherical::operator*=

(

float

f

)

operator/=()

Spherical Spherical::operator/=

(

float

f

)

Rotate()

Spherical Spherical::Rotate ( const Spherical &  v, Angle  horizontalAngle, Angle  verticalAngle  )

static

The distance between two vectors.

Parameters

v1	The first vector
v2	The second vector

Returns

The distance between the two vectors

RotateHorizontal()

Spherical Spherical::RotateHorizontal ( const Spherical &  v, Angle  angle  )

static

RotateVertical()

Spherical Spherical::RotateVertical ( const Spherical &  v, Angle  angle  )

static

Friends And Related Symbol Documentation

operator* [1/2]

Spherical operator* ( const Spherical &  v, float  f  )

friend

Scale the vector uniformly up.

Parameters

f	The scaling factor

Returns

The scaled vector

Remarks

This operation will scale the distance of the vector. The angle will be unaffected.

operator* [2/2]

Spherical operator* ( float  f, const Spherical &  v  )

friend

operator/ [1/2]

Spherical operator/ ( const Spherical &  v, float  f  )

friend

Scale the vector uniformly down.

Parameters

f	The scaling factor

Returns

The scaled factor

Remarks

This operation will scale the distance of the vector. The angle will be unaffected.

operator/ [2/2]

Spherical operator/ ( float  f, const Spherical &  v  )

friend

Member Data Documentation

distance

float Passer::LinearAlgebra::Spherical::distance

The distance in meters.

Remarks

The distance should never be negative

horizontalAngle

Angle Passer::LinearAlgebra::Spherical::horizontalAngle

The angle in the horizontal plane in degrees, clockwise rotation.

The angle is automatically normalized to -180 .. 180

verticalAngle

Angle Passer::LinearAlgebra::Spherical::verticalAngle

The angle in the vertical plane in degrees. Positive is upward.

The angle is automatically normalized to -180 .. 180

zero

const Spherical Spherical::zero = Spherical(0.0f, 0.0f, 0.0f)

static

A spherical vector with zero degree angles and distance.

forward

const Spherical Spherical::forward = Spherical(1.0f, 0.0f, 0.0f)

static

A normalized forward-oriented vector.

back

const Spherical Spherical::back = Spherical(1.0f, 180.0f, 0.0f)

static

A normalized back-oriented vector.

right

const Spherical Spherical::right = Spherical(1.0f, 90.0f, 0.0f)

static

A normalized right-oriented vector.

left

const Spherical Spherical::left = Spherical(1.0f, -90.0f, 0.0f)

static

A normalized left-oriented vector.

up

const Spherical Spherical::up = Spherical(1.0f, 0.0f, 90.0f)

static

A normalized up-oriented vector.

down

const Spherical Spherical::down = Spherical(1.0f, 0.0f, -90.0f)

static

A normalized down-oriented vector.

---

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

• d:/PlatformIO/RoboidControl/LinearAlgebra/Spherical.h
• d:/PlatformIO/RoboidControl/LinearAlgebra/Spherical.cpp