org.firstinspires.ftc.robotcore.external.matrices

Class VectorF

java.lang.Object

org.firstinspires.ftc.robotcore.external.matrices.VectorF

public class VectorF
extends java.lang.Object

A VectorF represents a single-dimensional vector of floats. It is not a matrix, but can easily be converted into either a RowMatrixF or a ColumnMatrixF should that be desired. That said, vectors can be multiplied by matrices to their left (or right); this is commonly used to transform a set of coordinates (in the vector) by a transformation matrix.

See Also:

MatrixF, RowMatrixF, ColumnMatrixF

Field Summary

Fields

Modifier and Type	Field and Description
protected float[]	data

Constructor Summary

Constructors

Constructor and Description
VectorF(float x)
VectorF(float[] data)
VectorF(float x, float y)
VectorF(float x, float y, float z)
VectorF(float x, float y, float z, float w)

Method Summary

Modifier and Type	Method and Description
void	add(VectorF addend)
MatrixF	added(MatrixF addend) Adds this vector, taken as a row vector against, to the indicated matrix.
VectorF	added(VectorF addend)
protected java.lang.RuntimeException	dimensionsError()
protected static java.lang.RuntimeException	dimensionsError(int length)
float	dotProduct(VectorF him) Returns the dot product of this vector and another.
float	get(int index)
float[]	getData()
int	length()
static VectorF	length(int length) Creates a new vector of the indicated length.
float	magnitude()
VectorF	multiplied(float scale) Returns a new vector containing the elements of this vector scaled by the indicated factor.
MatrixF	multiplied(MatrixF him) Multiplies this vector, taken as a row vector, against the indicated matrix.
void	multiply(float scale)
VectorF	normalized3D() Consider this vector as a 3D coordinate or 3D homogeneous coordinate, and, if the latter, return its normalized form.
void	put(int index, float value)
void	subtract(VectorF subtrahend)
MatrixF	subtracted(MatrixF subtrahend) Subtracts the indicated matrix from this vector, taken as a row vector.
VectorF	subtracted(VectorF subtrahend)
java.lang.String	toString()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

data

protected float[] data

Constructor Detail

VectorF

public VectorF(float[] data)

VectorF

public VectorF(float x)

VectorF

public VectorF(float x,
               float y)

VectorF

public VectorF(float x,
               float y,
               float z)

VectorF

public VectorF(float x,
               float y,
               float z,
               float w)

Method Detail

length

public static VectorF length(int length)

Creates a new vector of the indicated length. The vector will contain zeros.

Parameters:

length - the length of the new vector to return

Returns:

the newly created vector

getData

@Const
public float[] getData()

length

@Const
public int length()

get

@Const
public float get(int index)

put

@NonConst
public void put(int index,
                           float value)

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

normalized3D

@Const
public VectorF normalized3D()

Consider this vector as a 3D coordinate or 3D homogeneous coordinate, and, if the latter, return its normalized form. In either case, the result is of length three, and contains coordinate values for x, y, and z at indices 0, 1, and 2 respectively.

Returns:

the normalized form of this coordinate vector

See Also:

Homogeneous coordinates

magnitude

@Const
public float magnitude()

dotProduct

@Const
public float dotProduct(VectorF him)

Returns the dot product of this vector and another.

Parameters:

him - the other vector with whom the dot product is to be formed

Returns:

the dot product of this vector and another.

See Also:

Dot product

multiplied

@Const
public MatrixF multiplied(MatrixF him)

Multiplies this vector, taken as a row vector, against the indicated matrix.

added

@Const
public MatrixF added(MatrixF addend)

Adds this vector, taken as a row vector against, to the indicated matrix.

added

@Const
public VectorF added(VectorF addend)

add

@NonConst
public void add(VectorF addend)

subtracted

@Const
public MatrixF subtracted(MatrixF subtrahend)

Subtracts the indicated matrix from this vector, taken as a row vector.

subtracted

@Const
public VectorF subtracted(VectorF subtrahend)

subtract

@NonConst
public void subtract(VectorF subtrahend)

multiplied

@Const
public VectorF multiplied(float scale)

Returns a new vector containing the elements of this vector scaled by the indicated factor.

multiply

@NonConst
public void multiply(float scale)

dimensionsError

protected java.lang.RuntimeException dimensionsError()

dimensionsError

protected static java.lang.RuntimeException dimensionsError(int length)