apollo::common::math::Vec2d类 参考

Implements a class of 2-dimensional vectors. 更多...

#include <vec2d.h>

类 apollo::common::math::Vec2d 继承关系图:

apollo::common::math::Vec2d 的协作图:

Public 成员函数
constexpr	Vec2d (const double x, const double y) noexcept
	Constructor which takes x- and y-coordinates.
constexpr	Vec2d () noexcept
	Constructor returning the zero vector.
double	x () const
	Getter for x component
double	y () const
	Getter for y component
void	set_x (const double x)
	Setter for x component
void	set_y (const double y)
	Setter for y component
double	Length () const
	Gets the length of the vector
double	LengthSquare () const
	Gets the squared length of the vector
double	Angle () const
	Gets the angle between the vector and the positive x semi-axis
void	Normalize ()
	Returns the unit vector that is co-linear with this vector
double	DistanceTo (const Vec2d &other) const
	Returns the distance to the given vector
double	DistanceSquareTo (const Vec2d &other) const
	Returns the squared distance to the given vector
double	CrossProd (const Vec2d &other) const
	Returns the "cross" product between these two Vec2d (non-standard).
double	InnerProd (const Vec2d &other) const
	Returns the inner product between these two Vec2d.
Vec2d	rotate (const double angle) const
	rotate the vector by angle.
void	SelfRotate (const double angle)
	rotate the vector itself by angle.
Vec2d	operator+ (const Vec2d &other) const
	Sums two Vec2d
Vec2d	operator- (const Vec2d &other) const
	Subtracts two Vec2d
Vec2d	operator* (const double ratio) const
	Multiplies Vec2d by a scalar
Vec2d	operator/ (const double ratio) const
	Divides Vec2d by a scalar
Vec2d &	operator+= (const Vec2d &other)
	Sums another Vec2d to the current one
Vec2d &	operator-= (const Vec2d &other)
	Subtracts another Vec2d to the current one
Vec2d &	operator*= (const double ratio)
	Multiplies this Vec2d by a scalar
Vec2d &	operator/= (const double ratio)
	Divides this Vec2d by a scalar
bool	operator== (const Vec2d &other) const
	Compares two Vec2d
std::string	DebugString () const
	Returns a human-readable string representing this object

静态 Public 成员函数
static Vec2d	CreateUnitVec2d (const double angle)
	Creates a unit-vector with a given angle to the positive x semi-axis

Protected 属性
double	x_ = 0.0
double	y_ = 0.0

详细描述

Implements a class of 2-dimensional vectors.

在文件 vec2d.h 第 42 行定义.

构造及析构函数说明

Vec2d() [1/2]

constexpr apollo::common::math::Vec2d::Vec2d ( const double  x, const double  y  )

inlineconstexprnoexcept

Constructor which takes x- and y-coordinates.

在文件 vec2d.h 第 45 行定义.

: x_(x), y_(y) {}

Vec2d() [2/2]

constexpr apollo::common::math::Vec2d::Vec2d ( )

inlineconstexprnoexcept

Constructor returning the zero vector.

在文件 vec2d.h 第 48 行定义.

: Vec2d(0, 0) {}

成员函数说明

Angle()

double apollo::common::math::Vec2d::Angle

(

)

const

Gets the angle between the vector and the positive x semi-axis

在文件 vec2d.cc 第 37 行定义.

{ return std::atan2(y_, x_); }

CreateUnitVec2d()

Vec2d apollo::common::math::Vec2d::CreateUnitVec2d ( const double  angle )

static

Creates a unit-vector with a given angle to the positive x semi-axis

在文件 vec2d.cc 第 29 行定义.

                                               {
  return Vec2d(std::cos(angle), std::sin(angle));
}

CrossProd()

double apollo::common::math::Vec2d::CrossProd

(

const Vec2d &

other

)

const

Returns the "cross" product between these two Vec2d (non-standard).

在文件 vec2d.cc 第 57 行定义.

                                                {
  return x_ * other.y() - y_ * other.x();
}

DebugString()

std::string apollo::common::math::Vec2d::DebugString

(

)

const

Returns a human-readable string representing this object

在文件 vec2d.cc 第 125 行定义.

                                   {
  return absl::StrCat("vec2d ( x = ", x_, "  y = ", y_, " )");
}

DistanceSquareTo()

double apollo::common::math::Vec2d::DistanceSquareTo

(

const Vec2d &

other

)

const

Returns the squared distance to the given vector

在文件 vec2d.cc 第 51 行定义.

                                                       {
  const double dx = x_ - other.x_;
  const double dy = y_ - other.y_;
  return dx * dx + dy * dy;
}

DistanceTo()

double apollo::common::math::Vec2d::DistanceTo

(

const Vec2d &

other

)

const

Returns the distance to the given vector

在文件 vec2d.cc 第 47 行定义.

                                                 {
  return std::hypot(x_ - other.x_, y_ - other.y_);
}

InnerProd()

double apollo::common::math::Vec2d::InnerProd

(

const Vec2d &

other

)

const

Returns the inner product between these two Vec2d.

在文件 vec2d.cc 第 61 行定义.

                                                {
  return x_ * other.x() + y_ * other.y();
}

Length()

double apollo::common::math::Vec2d::Length

(

)

const

Gets the length of the vector

在文件 vec2d.cc 第 33 行定义.

{ return std::hypot(x_, y_); }

LengthSquare()

double apollo::common::math::Vec2d::LengthSquare

(

)

const

Gets the squared length of the vector

在文件 vec2d.cc 第 35 行定义.

{ return x_ * x_ + y_ * y_; }

Normalize()

void apollo::common::math::Vec2d::Normalize

(

)

Returns the unit vector that is co-linear with this vector

在文件 vec2d.cc 第 39 行定义.

                      {
  const double l = Length();
  if (l > kMathEpsilon) {
    x_ /= l;
    y_ /= l;
  }
}

operator*()

Vec2d apollo::common::math::Vec2d::operator*

(

const double

ratio

)

const

Multiplies Vec2d by a scalar

在文件 vec2d.cc 第 84 行定义.

                                               {
  return Vec2d(x_ * ratio, y_ * ratio);
}

operator*=()

Vec2d & apollo::common::math::Vec2d::operator*=

(

const double

ratio

)

Multiplies this Vec2d by a scalar

在文件 vec2d.cc 第 105 行定义.

                                           {
  x_ *= ratio;
  y_ *= ratio;
  return *this;
}

operator+()

Vec2d apollo::common::math::Vec2d::operator+

(

const Vec2d &

other

)

const

Sums two Vec2d

在文件 vec2d.cc 第 76 行定义.

                                               {
  return Vec2d(x_ + other.x(), y_ + other.y());
}

operator+=()

Vec2d & apollo::common::math::Vec2d::operator+=

(

const Vec2d &

other

)

Sums another Vec2d to the current one

在文件 vec2d.cc 第 93 行定义.

                                           {
  x_ += other.x();
  y_ += other.y();
  return *this;
}

operator-()

Vec2d apollo::common::math::Vec2d::operator-

(

const Vec2d &

other

)

const

Subtracts two Vec2d

在文件 vec2d.cc 第 80 行定义.

                                               {
  return Vec2d(x_ - other.x(), y_ - other.y());
}

operator-=()

Vec2d & apollo::common::math::Vec2d::operator-=

(

const Vec2d &

other

)

Subtracts another Vec2d to the current one

在文件 vec2d.cc 第 99 行定义.

                                           {
  x_ -= other.x();
  y_ -= other.y();
  return *this;
}

operator/()

Vec2d apollo::common::math::Vec2d::operator/

(

const double

ratio

)

const

Divides Vec2d by a scalar

在文件 vec2d.cc 第 88 行定义.

                                               {
  CHECK_GT(std::abs(ratio), kMathEpsilon);
  return Vec2d(x_ / ratio, y_ / ratio);
}

operator/=()

Vec2d & apollo::common::math::Vec2d::operator/=

(

const double

ratio

)

Divides this Vec2d by a scalar

在文件 vec2d.cc 第 111 行定义.

                                           {
  CHECK_GT(std::abs(ratio), kMathEpsilon);
  x_ /= ratio;
  y_ /= ratio;
  return *this;
}

operator==()

bool apollo::common::math::Vec2d::operator==

(

const Vec2d &

other

)

const

Compares two Vec2d

在文件 vec2d.cc 第 118 行定义.

                                               {
  return (std::abs(x_ - other.x()) < kMathEpsilon &&
          std::abs(y_ - other.y()) < kMathEpsilon);
}

rotate()

Vec2d apollo::common::math::Vec2d::rotate

(

const double

angle

)

const

rotate the vector by angle.

在文件 vec2d.cc 第 65 行定义.

                                            {
  return Vec2d(x_ * cos(angle) - y_ * sin(angle),
               x_ * sin(angle) + y_ * cos(angle));
}

SelfRotate()

void apollo::common::math::Vec2d::SelfRotate

(

const double

angle

)

rotate the vector itself by angle.

在文件 vec2d.cc 第 70 行定义.

                                         {
  double tmp_x = x_;
  x_ = x_ * cos(angle) - y_ * sin(angle);
  y_ = tmp_x * sin(angle) + y_ * cos(angle);
}

set_x()

void apollo::common::math::Vec2d::set_x ( const double  x )

inline

Setter for x component

在文件 vec2d.h 第 60 行定义.

{ x_ = x; }

set_y()

void apollo::common::math::Vec2d::set_y ( const double  y )

inline

Setter for y component

在文件 vec2d.h 第 63 行定义.

{ y_ = y; }

x()

double apollo::common::math::Vec2d::x ( ) const

inline

Getter for x component

在文件 vec2d.h 第 54 行定义.

{ return x_; }

y()

double apollo::common::math::Vec2d::y ( ) const

inline

Getter for y component

在文件 vec2d.h 第 57 行定义.

{ return y_; }

类成员变量说明

x_

double apollo::common::math::Vec2d::x_ = 0.0

protected

在文件 vec2d.h 第 126 行定义.

y_

double apollo::common::math::Vec2d::y_ = 0.0

protected

在文件 vec2d.h 第 127 行定义.

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该类的文档由以下文件生成:

• modules/common/math/vec2d.h
• modules/common/math/vec2d.cc