Spherical Class Reference

Detailed Description

A spherical 3D vector.

Inheritance diagram for Spherical:

Public Member Functions
	__init__ (self, float distance, Direction direction)
	Create a new spherical vector.
	Degrees (float distance, float horizontal, float vertical)
	Create sperical vector without using the Direction type.
	Radians (float distance, float horizontal, float vertical)
	Create sperical vector without using the Direction type.
Vector3	ToVector3 (self)
	Convert the spherical coordinate to a Vector3 coordinate.
bool	__eq__ (self, other)
	Check if this vector is equal to the given vector.
float	Normalized (self)
	__neg__ (self)
	Negate the vector.
	__sub__ (self, other)
	Subtract a spherical vector from this vector.
	__add__ (self, other)
	Add a spherical vector to this vector.
	__mul__ (self, factor)
	Scale the vector uniformly up.
	__truediv__ (self, factor)
	Scale the vector uniformly down.
Angle	SignedAngle (s1, s2, axis)
	Calculate the signed angle between two spherical vectors.
	__repr__ (self)
	__init__ (self, float distance, Direction direction)
	Create a new spherical vector.
	Degrees (float distance, float horizontal, float vertical)
	Create sperical vector without using the Direction type.
	Radians (float distance, float horizontal, float vertical)
	Create sperical vector without using the Direction type.
Vector3	ToVector3 (self)
	Convert the spherical coordinate to a Vector3 coordinate.
bool	__eq__ (self, other)
	Check if this vector is equal to the given vector.
	isclose (self, other, rel_tol=1e-9, abs_tol=1e-8)
float	Normalized (self)
	__neg__ (self)
	Negate the vector.
	__sub__ (self, other)
	Subtract a spherical vector from this vector.
	__add__ (self, other)
	Add a spherical vector to this vector.
	__mul__ (self, factor)
	Scale the vector uniformly up.
	__truediv__ (self, factor)
	Scale the vector uniformly down.
Angle	SignedAngle (s1, s2, axis)
	Calculate the signed angle between two spherical vectors.
	__repr__ (self)

Static Public Member Functions
	FromVector3 (Vector3 v)
	Create a Spherical coordinate from a Vector3 coordinate.
float	Distance (v1, v2)
	Calculate the distance between two spherical coordinates.
Angle	Angle (s1, s2)
	Calculate the unsigned angle between two spherical vectors.
	Rotate (s, Angle horizontal, Angle vertical)
	Rotate a spherical vector.
	FromVector3 (Vector3 v)
	Create a Spherical coordinate from a Vector3 coordinate.
float	Distance (v1, v2)
	Calculate the distance between two spherical coordinates.
Angle	Angle (s1, s2)
	Calculate the unsigned angle between two spherical vectors.
	Rotate (s, Angle horizontal, Angle vertical)
	Rotate a spherical vector.

Public Attributes
	distance
	The direction of the vector.
	direction

Static Public Attributes
	zero

Constructor & Destructor Documentation

__init__() [1/2]

__init__	(		self,
		float	distance,
		Direction	direction
	)

Create a new spherical vector.

Parameters

distance	The length of the vector
direction	The direction of the vector

Reimplemented from Polar.

__init__() [2/2]

__init__	(		self,
		float	distance,
		Direction	direction
	)

Create a new spherical vector.

Parameters

distance	The length of the vector
direction	The direction of the vector

Reimplemented from Polar.

Member Function Documentation

Degrees() [1/2]

Degrees	(	float	distance,
		float	horizontal,
		float	vertical
	)

Create sperical vector without using the Direction type.

All given angles are in degrees

Parameters

distance	The distance in meters
horizontal	The horizontal angle in degrees
vertical	The vertical angle in degrees

Returns

The spherical vector

Reimplemented from Polar.

Radians() [1/2]

Radians	(	float	distance,
		float	horizontal,
		float	vertical
	)

Create sperical vector without using the Direction type.

All given angles are in radians

Parameters

distance	The distance in meters
horizontal	The horizontal angle in radians
vertical	The vertical angle in radians

Returns

The spherical vector

Reimplemented from Polar.

FromVector3() [1/2]

FromVector3 ( Vector3  v )

static

Create a Spherical coordinate from a Vector3 coordinate.

Parameters

v	The vector coordinate

Returns

The spherical coordinate

ToVector3() [1/2]

Vector3 ToVector3

(

self

)

Convert the spherical coordinate to a Vector3 coordinate.

Returns

The vector coordinate

__eq__() [1/2]

bool __eq__	(		self,
			other
	)

Check if this vector is equal to the given 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.

Reimplemented from Polar.

Normalized() [1/2]

float Normalized

(

self

)

Reimplemented from Polar.

__neg__() [1/2]

__neg__

(

self

)

Negate the vector.

Returns

The negated vector This will negate the direction. Distance will stay the same.

Reimplemented from Polar.

__sub__() [1/2]

__sub__	(		self,
			other
	)

Subtract a spherical vector from this vector.

Parameters

other

The vector to subtract

Returns

The result of the subtraction

Reimplemented from Polar.

__add__() [1/2]

__add__	(		self,
			other
	)

Add a spherical vector to this vector.

Parameters

other

The vector to add

Returns

The result of the addition

Reimplemented from Polar.

__mul__() [1/2]

__mul__	(		self,
			factor
	)

Scale the vector uniformly up.

Parameters

factor

The scaling factor

Returns

The scaled vector

Remarks

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

Reimplemented from Polar.

__truediv__() [1/2]

__truediv__	(		self,
			factor
	)

Scale the vector uniformly down.

Parameters

factor

The scaling factor

Returns

The scaled vector

Remarks

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

Reimplemented from Polar.

Distance() [1/2]

float Distance (   v1,   v2  )

static

Calculate the distance between two spherical coordinates.

Parameters

s1	The first coordinate
s2	The second coordinate

Returns

The distance between the coordinates in meters

Reimplemented from Polar.

Angle() [1/2]

Angle Angle (   s1,   s2  )

static

Calculate the unsigned angle between two spherical vectors.

Parameters

s1	The first vector
s2	The second vector

Returns

The unsigned angle between the vectors [0..179.9999999..., -180]

Remarks

the strange range is caused by the 2s complement signed values which has range [minvalue..maxvalue). This is a hardware limitation, not something we can change.

Reimplemented from Polar.

SignedAngle() [1/2]

Angle SignedAngle	(		s1,
			s2,
			axis
	)

Calculate the signed angle between two spherical vectors.

Parameters

s1	The first vector
s2	The second vector
axis	The axis around which the angle is calculated

Returns

The signed angle between the vectors

Reimplemented from Polar.

Rotate() [1/2]

Rotate (   s, Angle  horizontal, Angle  vertical  )

static

Rotate a spherical vector.

Parameters

s	The vector to rotate
horizontal	The horizontal rotation angle in local space
vertical	The vertical rotation angle in local space

Returns

The rotated vector

Degrees() [2/2]

Degrees	(	float	distance,
		float	horizontal,
		float	vertical
	)

Create sperical vector without using the Direction type.

All given angles are in degrees

Parameters

distance	The distance in meters
horizontal	The horizontal angle in degrees
vertical	The vertical angle in degrees

Returns

The spherical vector

Reimplemented from Polar.

Radians() [2/2]

Radians	(	float	distance,
		float	horizontal,
		float	vertical
	)

Create sperical vector without using the Direction type.

All given angles are in radians

Parameters

distance	The distance in meters
horizontal	The horizontal angle in radians
vertical	The vertical angle in radians

Returns

The spherical vector

Reimplemented from Polar.

FromVector3() [2/2]

FromVector3 ( Vector3  v )

static

Create a Spherical coordinate from a Vector3 coordinate.

Parameters

v	The vector coordinate

Returns

The spherical coordinate

ToVector3() [2/2]

Vector3 ToVector3

(

self

)

Convert the spherical coordinate to a Vector3 coordinate.

Returns

The vector coordinate

__eq__() [2/2]

bool __eq__	(		self,
			other
	)

Check if this vector is equal to the given 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.

Reimplemented from Polar.

isclose()

isclose	(		self,
			other,
			rel_tol = 1e-9,
			abs_tol = 1e-8
	)

Reimplemented from Polar.

Normalized() [2/2]

float Normalized

(

self

)

Reimplemented from Polar.

__neg__() [2/2]

__neg__

(

self

)

Negate the vector.

Returns

The negated vector This will negate the direction. Distance will stay the same.

Reimplemented from Polar.

__sub__() [2/2]

__sub__	(		self,
			other
	)

Subtract a spherical vector from this vector.

Parameters

other

The vector to subtract

Returns

The result of the subtraction

Reimplemented from Polar.

__add__() [2/2]

__add__	(		self,
			other
	)

Add a spherical vector to this vector.

Parameters

other

The vector to add

Returns

The result of the addition

Reimplemented from Polar.

__mul__() [2/2]

__mul__	(		self,
			factor
	)

Scale the vector uniformly up.

Parameters

factor

The scaling factor

Returns

The scaled vector

Remarks

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

Reimplemented from Polar.

__truediv__() [2/2]

__truediv__	(		self,
			factor
	)

Scale the vector uniformly down.

Parameters

factor

The scaling factor

Returns

The scaled vector

Remarks

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

Reimplemented from Polar.

Distance() [2/2]

float Distance (   v1,   v2  )

static

Calculate the distance between two spherical coordinates.

Parameters

s1	The first coordinate
s2	The second coordinate

Returns

The distance between the coordinates in meters

Reimplemented from Polar.

Angle() [2/2]

Angle Angle (   s1,   s2  )

static

Calculate the unsigned angle between two spherical vectors.

Parameters

s1	The first vector
s2	The second vector

Returns

The unsigned angle between the vectors [0..179.9999999..., -180]

Remarks

the strange range is caused by the 2s complement signed values which has range [minvalue..maxvalue). This is a hardware limitation, not something we can change.

Reimplemented from Polar.

SignedAngle() [2/2]

Angle SignedAngle	(		s1,
			s2,
			axis
	)

Calculate the signed angle between two spherical vectors.

Parameters

s1	The first vector
s2	The second vector
axis	The axis around which the angle is calculated

Returns

The signed angle between the vectors

Reimplemented from Polar.

Rotate() [2/2]

Rotate (   s, Angle  horizontal, Angle  vertical  )

static

Rotate a spherical vector.

Parameters

s	The vector to rotate
horizontal	The horizontal rotation angle in local space
vertical	The vertical rotation angle in local space

Returns

The rotated vector

Member Data Documentation

distance

distance

The direction of the vector.

Normalizing such that distance >= 0

---

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

• d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py
• d:/Python/RoboidControl/RoboidControl/LinearAlgebra/LinearAlgebra/Spherical.py