This type is used for the transpose of UnitVec, and as the returned row type of a Rotation. More...

Inheritance diagram for SimTK::UnitRow< P, S >:

Public Types
typedef Row< 3, P, S >	BaseRow

typedef UnitVec< P, S >	TransposeType

Public Types inherited from SimTK::Row< 3, P, S >
enum

typedef Row< N, E, STRIDE >	T

typedef Row< N, ENeg, STRIDE >	TNeg

typedef Row< N, EWithoutNegator, STRIDE >	TWithoutNegator

typedef Row< N, EReal, STRIDE *CNT< E >::RealStrideFactor >	TReal

typedef Row< N, EImag, STRIDE *CNT< E >::RealStrideFactor >	TImag

typedef Row< N, EComplex, STRIDE >	TComplex

typedef Vec< N, EHerm, STRIDE >	THerm

typedef Vec< N, E, STRIDE >	TPosTrans

typedef E	TElement

typedef Row	TRow

typedef E	TCol

typedef Vec< N, ESqrt, 1 >	TSqrt

typedef Row< N, EAbs, 1 >	TAbs

typedef Row< N, EStandard, 1 >	TStandard

typedef Vec< N, EInvert, 1 >	TInvert

typedef Row< N, ENormalize, 1 >	TNormalize

typedef SymMat< N, ESqHermT >	TSqHermT

typedef EScalarNormSq	TSqTHerm

typedef EScalar	Scalar

typedef EULessScalar	ULessScalar

typedef ENumber	Number

typedef EStdNumber	StdNumber

typedef EPrecision	Precision

typedef EScalarNormSq	ScalarNormSq

Public Member Functions
	UnitRow ()

	UnitRow (const UnitRow &u)
	Copy constructor does not require normalization. More...

template<int S2>
	UnitRow (const UnitRow< P, S2 > &u)
	Implicit conversion from UnitRow with different stride; no normalization required. More...

UnitRow &	operator= (const UnitRow &u)
	Copy assignment does not require normalization. More...

template<int S2>
UnitRow &	operator= (const UnitRow< P, S2 > &u)
	Copy assignment from UnitRow with different stride; no computation needed. More...

	UnitRow (const BaseRow &v)
	Explicit conversion from Row to UnitRow, requiring expensive normalization. More...

template<int S2>
	UnitRow (const Row< 3, P, S2 > &v)
	Explicit conversion from Row of any stride to UnitRow, requiring expensive normalization. More...

	UnitRow (const P &x, const P &y, const P &z)
	Create a unit row from explicitly specified measure numbers (x,y,z); requires expensive normalization. More...

	UnitRow (int axis)
	Create a unit axis vector 100 010 001 given 0, 1, or 2. More...

const BaseRow &	asRow3 () const
	Return a const reference to the Row3 underlying this UnitRow. More...

UnitRow< P, 1 >	negate () const
	Returns a new unit vector pointing in the opposite direction from this one; does not modify this UnitVec object. More...

UnitRow< P, 1 >	operator- () const
	Returns a new unit vector pointing in the opposite direction from this one. More...

const TransposeType &	operator~ () const
	Return a const reference to this UnitRow reinterpreted as a UnitVec; no computation requires since this is just a type cast. More...

TransposeType &	operator~ ()
	Return a writable reference to this UnitRow reinterpreted as a UnitVec; no computation requires since this is just a type cast. More...

const P &	operator[] (int i) const
	Return one element of this unit row as a const reference; there is no corresponding writable index function since changing a single element of a unit vector would violate the contract that it has unit length at all times. More...

const P &	operator() (int i) const
	Return one element of this unit row as a const reference; there is no corresponding writable index function since changing a single element of a unit vector would violate the contract that it has unit length at all times. More...

UnitRow< P, 1 >	abs () const
	Return a new UnitRow whose measure numbers are the absolute values of the ones here. More...

UnitRow< P, 1 >	perp () const
	Return a new UnitRow perpendicular to this one but otherwise arbitrary. More...

	UnitRow (const BaseRow &v, bool)
	(Advanced) This constructor is only for our friends whom we trust to give us an already-normalized vector which we simply accept as normalized without checking. More...

template<int S2>
	UnitRow (const Row< 3, P, S2 > &v, bool)
	(Advanced) This constructor is only for our friends whom we trust to give us an already-normalized vector which we simply accept as normalized without checking (this version accepts an input vector of any stride). More...

Public Member Functions inherited from SimTK::Row< 3, P, S >
ScalarNormSq	scalarNormSqr () const

TSqrt	sqrt () const

TAbs	abs () const

TStandard	standardize () const

EStandard	sum () const

	Row ()

	Row (const Row &src)

	Row (const Row< N, E, SS > &src)

	Row (const Row< N, ENeg, SS > &src)

	Row (const Row< N, EE, SS > &vv)

	Row (const E &e)

	Row (const ENeg &ne)

	Row (int i)

	Row (const E &e0, const E &e1)

	Row (const E &e0, const E &e1, const E &e2)

	Row (const E &e0, const E &e1, const E &e2, const E &e3)

	Row (const E &e0, const E &e1, const E &e2, const E &e3, const E &e4)

	Row (const E &e0, const E &e1, const E &e2, const E &e3, const E &e4, const E &e5)

	Row (const E &e0, const E &e1, const E &e2, const E &e3, const E &e4, const E &e5, const E &e6)

	Row (const E &e0, const E &e1, const E &e2, const E &e3, const E &e4, const E &e5, const E &e6, const E &e7)

	Row (const E &e0, const E &e1, const E &e2, const E &e3, const E &e4, const E &e5, const E &e6, const E &e7, const E &e8)

	Row (const EE *p)

Row &	operator= (const Row &src)

Row &	operator= (const EE *p)

Row &	operator= (const Row< N, EE, SS > &vv)

Row &	operator= (const EE &e)

Row &	operator+= (const Row< N, EE, SS > &r)

Row &	operator+= (const Row< N, negator< EE >, SS > &r)

Row &	operator+= (const EE &e)

Row &	operator-= (const Row< N, EE, SS > &r)

Row &	operator-= (const Row< N, negator< EE >, SS > &r)

Row &	operator-= (const EE &e)

Row< N, typename CNT< E >::template Result< EE >::Add >	conformingAdd (const Row< N, EE, SS > &r) const
	Vector addition – use operator+ instead. More...

Row< N, typename CNT< E >::template Result< EE >::Sub >	conformingSubtract (const Row< N, EE, SS > &r) const
	Vector subtraction – use operator- instead. More...

CNT< E >::template Result< EE >::Mul	conformingMultiply (const Vec< N, EE, SS > &r) const
	Same as dot product (s = rowcol) – use operator or dot() instead. More...

Row< MatNCol, typename CNT< E >::template Result< EE >::Mul >	conformingMultiply (const Mat< N, MatNCol, EE, CS, RS > &m) const
	Row times a conforming matrix, row=rowmat – use operator instead. More...

Row< N, typename CNT< E >::template Result< EE >::Mul >	elementwiseMultiply (const Row< N, EE, SS > &r) const
	Elementwise multiply (Matlab . More...

Row< N, typename CNT< E >::template Result< EE >::Dvd >	elementwiseDivide (const Row< N, EE, SS > &r) const
	Elementwise divide (Matlab . More...

const E &	operator[] (int i) const

E &	operator[] (int i)

const E &	operator() (int i) const

E &	operator() (int i)

ScalarNormSq	normSqr () const

CNT< ScalarNormSq >::TSqrt	norm () const

TNormalize	normalize () const

TInvert	invert () const

const Row &	operator+ () const

const TNeg &	operator- () const

TNeg &	operator- ()

const THerm &	operator~ () const

THerm &	operator~ ()

const TNeg &	negate () const

TNeg &	updNegate ()

const THerm &	transpose () const

THerm &	updTranspose ()

const TPosTrans &	positionalTranspose () const

TPosTrans &	updPositionalTranspose ()

const TReal &	real () const

TReal &	real ()

const TImag &	imag () const

TImag &	imag ()

const TWithoutNegator &	castAwayNegatorIfAny () const

TWithoutNegator &	updCastAwayNegatorIfAny ()

Row< N, typename CNT< E >::template Result< EE >::Mul >	scalarMultiply (const EE &e) const

Row< N, typename CNT< EE >::template Result< E >::Mul >	scalarMultiplyFromLeft (const EE &e) const

Row< N, typename CNT< E >::template Result< EE >::Dvd >	scalarDivide (const EE &e) const

Row< N, typename CNT< EE >::template Result< E >::Dvd >	scalarDivideFromLeft (const EE &e) const

Row< N, typename CNT< E >::template Result< EE >::Add >	scalarAdd (const EE &e) const

Row< N, typename CNT< E >::template Result< EE >::Sub >	scalarSubtract (const EE &e) const

Row< N, typename CNT< EE >::template Result< E >::Sub >	scalarSubtractFromLeft (const EE &e) const

Row &	operator*= (const EE &e)

Row &	operator/= (const EE &e)

Row &	scalarEq (const EE &ee)

Row &	scalarEq (int ee)

Row &	scalarPlusEq (const EE &ee)

Row &	scalarPlusEq (int ee)

Row &	scalarMinusEq (const EE &ee)

Row &	scalarMinusEq (int ee)

Row &	scalarMinusEqFromLeft (const EE &ee)

Row &	scalarMinusEqFromLeft (int ee)

Row &	scalarTimesEq (const EE &ee)

Row &	scalarTimesEq (int ee)

Row &	scalarTimesEqFromLeft (const EE &ee)

Row &	scalarTimesEqFromLeft (int ee)

Row &	scalarDivideEq (const EE &ee)

Row &	scalarDivideEq (int ee)

Row &	scalarDivideEqFromLeft (const EE &ee)

Row &	scalarDivideEqFromLeft (int ee)

void	setToNaN ()
	Set every scalar in this Row to NaN; this is the default initial value in Debug builds, but not in Release. More...

void	setToZero ()
	Set every scalar in this Row to zero. More...

const Row< NN, P, STRIDE > &	getSubRow (int j) const
	Extract a const reference to a sub-Row with size known at compile time. More...

Row< NN, P, STRIDE > &	updSubRow (int j)
	Extract a writable reference to a sub-Row with size known at compile time. More...

Row< N-1, P, 1 >	drop1 (int p) const
	Return a row one smaller than this one by dropping the element at the indicated position p. More...

Row< N+1, P, 1 >	append1 (const EE &v) const
	Return a row one larger than this one by adding an element to the end. More...

Row< N+1, P, 1 >	insert1 (int p, const EE &v) const
	Return a row one larger than this one by inserting an element before the indicated one. More...

bool	isNaN () const
	Return true if any element of this Row contains a NaN anywhere. More...

bool	isInf () const
	Return true if any element of this Row contains a +Infinity or -Infinity somewhere but no element contains a NaN anywhere. More...

bool	isFinite () const
	Return true if no element of this Row contains an Infinity or a NaN anywhere. More...

bool	isNumericallyEqual (const Row< N, E2, CS2 > &r, double tol) const
	Test whether this row is numerically equal to some other row with the same shape, using a specified tolerance. More...

bool	isNumericallyEqual (const Row< N, E2, CS2 > &r) const
	Test whether this row vector is numerically equal to some other row with the same shape, using a default tolerance which is the looser of the default tolerances of the two objects being compared. More...

bool	isNumericallyEqual (const P &e, double tol=getDefaultTolerance()) const
	Test whether every element of this row vector is numerically equal to the given element, using either a specified tolerance or the row's default tolerance (which is always the same or looser than the default tolerance for one of its elements). More...

Static Public Member Functions
static const UnitRow &	getAs (const P *p)
	(Advanced) Reinterpret a given memory location as a UnitRow like this one, without checking – don't use this if you aren't absolutely certain that the memory location actually does contain a unit vector, with the correct stride! This overrides the base Row class method of the same name. More...

Static Public Member Functions inherited from SimTK::Row< 3, P, S >
static int	size ()

static int	nrow ()

static int	ncol ()

static const Row &	getSubRow (const Row< NN, P, STRIDE > &r, int j)
	Extract a subvector of type Row from a longer one that has the same element type and stride, and return a const reference to the selected subsequence. More...

static Row &	updSubRow (Row< NN, P, STRIDE > &r, int j)
	Extract a subvector of type Row from a longer one that has the same element type and stride, and return a writable reference to the selected subsequence. More...

static const Row &	getAs (const P *p)
	Recast an ordinary C++ array E[] to a const Row<N,E,S>; assumes compatible length, stride, and packing. More...

static Row &	updAs (P *p)
	Recast a writable ordinary C++ array E[] to a writable Row<N,E,S>; assumes compatible length, stride, and packing. More...

static Row< N, P, 1 >	getNaN ()
	Return a Row of the same length and element type as this one but with all elements set to NaN. More...

static double	getDefaultTolerance ()
	For approximate comparisons, the default tolerance to use for a vector is the same as its elements' default tolerance. More...

Related Functions
(Note that these are not member functions.)
template<class P , int S1, int S2>
bool	operator== (const UnitRow< P, S1 > &u1, const UnitRow< P, S2 > &u2)
	Compare two UnitRow3 objects for exact, bitwise equality (not very useful). More...

template<class P , int S1, int S2>
bool	operator!= (const UnitRow< P, S1 > &u1, const UnitRow< P, S2 > &u2)
	Compare two UnitRow3 objects and return true unless they are exactly bitwise equal (not very useful). More...

Related Functions inherited from SimTK::Row< 3, P, S >
void	writeUnformatted (std::ostream &o, const Row< N, E, S > &v)
	Specialize for Row<N,E,S> to delegate to element type E, with spaces separating the elements; raw output is same as Vec. More...

bool	readUnformatted (std::istream &in, Row< N, E, S > &v)
	Specialize for Row<N,E,S> to delegate to element type E, with spaces separating the elements; format is same as Vec. More...

Detailed Description

template<class P, int S>
class SimTK::UnitRow< P, S >

This type is used for the transpose of UnitVec, and as the returned row type of a Rotation.

Don't construct these directly.

Member Typedef Documentation

◆ BaseRow

template<class P, int S>

typedef Row<3,P,S> SimTK::UnitRow< P, S >::BaseRow

◆ TransposeType

template<class P, int S>

typedef UnitVec<P,S> SimTK::UnitRow< P, S >::TransposeType

Constructor & Destructor Documentation

◆ UnitRow() [1/9]

template<class P, int S>

SimTK::UnitRow< P, S >::UnitRow ( )

inline

◆ UnitRow() [2/9]

template<class P, int S>

SimTK::UnitRow< P, S >::UnitRow ( const UnitRow< P, S > & u )

inline

Copy constructor does not require normalization.

◆ UnitRow() [3/9]

template<class P, int S>

template<int S2>

SimTK::UnitRow< P, S >::UnitRow ( const UnitRow< P, S2 > & u )

inline

Implicit conversion from UnitRow with different stride; no normalization required.

◆ UnitRow() [4/9]

template<class P, int S>

SimTK::UnitRow< P, S >::UnitRow ( const BaseRow & v )

inlineexplicit

Explicit conversion from Row to UnitRow, requiring expensive normalization.

◆ UnitRow() [5/9]

template<class P, int S>

template<int S2>

SimTK::UnitRow< P, S >::UnitRow ( const Row< 3, P, S2 > & v )

inlineexplicit

Explicit conversion from Row of any stride to UnitRow, requiring expensive normalization.

◆ UnitRow() [6/9]

template<class P, int S>

SimTK::UnitRow< P, S >::UnitRow	(	const P &	x,
		const P &	y,
		const P &	z
	)

inline

Create a unit row from explicitly specified measure numbers (x,y,z); requires expensive normalization.

◆ UnitRow() [7/9]

template<class P, int S>

SimTK::UnitRow< P, S >::UnitRow ( int axis )

inlineexplicit

Create a unit axis vector 100 010 001 given 0, 1, or 2.

◆ UnitRow() [8/9]

template<class P, int S>

SimTK::UnitRow< P, S >::UnitRow	(	const BaseRow &	v,
		bool
	)

inline

(Advanced) This constructor is only for our friends whom we trust to give us an already-normalized vector which we simply accept as normalized without checking.

◆ UnitRow() [9/9]

template<class P, int S>

template<int S2>

SimTK::UnitRow< P, S >::UnitRow	(	const Row< 3, P, S2 > &	v,
		bool
	)

inline

(Advanced) This constructor is only for our friends whom we trust to give us an already-normalized vector which we simply accept as normalized without checking (this version accepts an input vector of any stride).

Member Function Documentation

◆ operator=() [1/2]

template<class P, int S>

UnitRow& SimTK::UnitRow< P, S >::operator= ( const UnitRow< P, S > & u )

inline

Copy assignment does not require normalization.

◆ operator=() [2/2]

template<class P, int S>

template<int S2>

UnitRow& SimTK::UnitRow< P, S >::operator= ( const UnitRow< P, S2 > & u )

inline

Copy assignment from UnitRow with different stride; no computation needed.

◆ asRow3()

template<class P, int S>

const BaseRow& SimTK::UnitRow< P, S >::asRow3 ( ) const

inline

Return a const reference to the Row3 underlying this UnitRow.

◆ negate()

template<class P, int S>

UnitRow<P,1> SimTK::UnitRow< P, S >::negate ( ) const

inline

Returns a new unit vector pointing in the opposite direction from this one; does not modify this UnitVec object.

Cost is 3 flops.

◆ operator-()

template<class P, int S>

UnitRow<P,1> SimTK::UnitRow< P, S >::operator- ( ) const

inline

Returns a new unit vector pointing in the opposite direction from this one.

Cost is 3 flops.

◆ operator~() [1/2]

template<class P, int S>

const TransposeType& SimTK::UnitRow< P, S >::operator~ ( ) const

inline

Return a const reference to this UnitRow reinterpreted as a UnitVec; no computation requires since this is just a type cast.

◆ operator~() [2/2]

template<class P, int S>

TransposeType& SimTK::UnitRow< P, S >::operator~ ( )

inline

Return a writable reference to this UnitRow reinterpreted as a UnitVec; no computation requires since this is just a type cast.

◆ operator[]()

template<class P, int S>

const P& SimTK::UnitRow< P, S >::operator[] ( int i ) const

inline

Return one element of this unit row as a const reference; there is no corresponding writable index function since changing a single element of a unit vector would violate the contract that it has unit length at all times.

◆ operator()()

template<class P, int S>

const P& SimTK::UnitRow< P, S >::operator() ( int i ) const

inline

Return one element of this unit row as a const reference; there is no corresponding writable index function since changing a single element of a unit vector would violate the contract that it has unit length at all times.

◆ abs()

template<class P, int S>

UnitRow<P,1> SimTK::UnitRow< P, S >::abs ( ) const

inline

Return a new UnitRow whose measure numbers are the absolute values of the ones here.

This will still have unit length but will be a reflection of this unit vector into the first octant (+x,+y,+z). Note that we are returning the packed form of UnitRow regardless of our stride here.

◆ perp()

template<class P , int S>

UnitRow< P, 1 > SimTK::UnitRow< P, S >::perp ( ) const

inline

Return a new UnitRow perpendicular to this one but otherwise arbitrary.

Some care is taken to ensure good numerical conditioning for the result regardless of what goes in. Cost is about 50 flops.

◆ getAs()

template<class P, int S>

static const UnitRow& SimTK::UnitRow< P, S >::getAs ( const P * p )

inlinestatic

(Advanced) Reinterpret a given memory location as a UnitRow like this one, without checking – don't use this if you aren't absolutely certain that the memory location actually does contain a unit vector, with the correct stride! This overrides the base Row class method of the same name.

Friends And Related Function Documentation

◆ operator==()

template<class P , int S1, int S2>

bool operator==	(	const UnitRow< P, S1 > &	u1,
		const UnitRow< P, S2 > &	u2
	)

◆ operator!=()

template<class P , int S1, int S2>

bool operator!=	(	const UnitRow< P, S1 > &	u1,
		const UnitRow< P, S2 > &	u2
	)

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

UnitVec.h

Public Types

Public Member Functions

Static Public Member Functions

Related Functions

Detailed Description

template<class P, int S> class SimTK::UnitRow< P, S >

Member Typedef Documentation

◆ BaseRow

◆ TransposeType

Constructor & Destructor Documentation

◆ UnitRow() [1/9]

◆ UnitRow() [2/9]

◆ UnitRow() [3/9]

◆ UnitRow() [4/9]

◆ UnitRow() [5/9]

◆ UnitRow() [6/9]

◆ UnitRow() [7/9]

◆ UnitRow() [8/9]

◆ UnitRow() [9/9]

Member Function Documentation

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ asRow3()

◆ negate()

◆ operator-()

◆ operator~() [1/2]

◆ operator~() [2/2]

◆ operator[]()

◆ operator()()

◆ abs()

◆ perp()

◆ getAs()

Friends And Related Function Documentation

◆ operator==()

◆ operator!=()

template<class P, int S>
class SimTK::UnitRow< P, S >