Package org.robwork.sdurw

Class Q

java.lang.Object

org.robwork.sdurw.Q

public class Q
extends java.lang.Object

Configuration vector

Constructor Summary

Constructors

Constructor	Description
Q()	Default constructor. The vector will be of dimension zero.
Q(int n, double a0)	Creates a Q of length n and initialize all values in Q to value
Q(int n, double a0, double a1)	Creates a Q of length n and initialize all values in Q to the values specified after n The number of arguments after n must match the number n.
Q(int n, double a0, double a1, double a2)	Creates a Q of length n and initialize all values in Q to the values specified after n The number of arguments after n must match the number n.
Q(int n, double a0, double a1, double a2, double a3)	Creates a Q of length n and initialize all values in Q to the values specified after n The number of arguments after n must match the number n.
Q(int n, double a0, double a1, double a2, double a3, double a4)	Creates a Q of length n and initialize all values in Q to the values specified after n The number of arguments after n must match the number n.
Q(int n, double a0, double a1, double a2, double a3, double a4, double a5)	Creates a Q of length n and initialize all values in Q to the values specified after n The number of arguments after n must match the number n.
Q(int n, double a0, double a1, double a2, double a3, double a4, double a5, double a6)	Creates a Q of length n and initialize all values in Q to the values specified after n The number of arguments after n must match the number n.
Q(int n, double a0, double a1, double a2, double a3, double a4, double a5, double a6, double a7)	Creates a Q of length n and initialize all values in Q to the values specified after n The number of arguments after n must match the number n.
Q(int n, double a0, double a1, double a2, double a3, double a4, double a5, double a6, double a7, double a8)	Creates a Q of length n and initialize all values in Q to the values specified after n The number of arguments after n must match the number n.
Q(int n, double a0, double a1, double a2, double a3, double a4, double a5, double a6, double a7, double a8, double a9)	Creates a Q of length n and initialize all values in Q to the values specified after n The number of arguments after n must match the number n.
Q(long dim)	A configuration of vector of length dim.
Q(long cPtr, boolean cMemoryOwn)
Q(long n, double[] values)	Creates a Q of length n and initialized with values from values The method reads n values from values and do not check whether reading out of bounds.
Q(VectorDouble r)	Construct a configuration vector from a std::vector expression.
Q(EigenVectorXd q)	Construct from Eigen base.

Method Summary

Modifier and Type	Method	Description
Q	add(Q b)	Vector addition.
void	delete()
Q	divide(double s)	Scalar division.
EigenVectorXd	e()	Accessor for the internal Eigen vector state.
boolean	empty()	True if the configuration is of dimension zero.
double	get(long i)
static long	getCPtr(Q obj)
Q	getSubPart(long start, long cnt)	Extracts a sub part (range) of this Q.
boolean	leessThan(Q q)	Compares whether this is less than q The less operator is defined such that the first index is the most significant.
Q	multiply(double s)	Scalar multiplication.
Q	negate()
double	norm1()	Returns the Manhatten norm (1-norm) of the configuration
double	norm2()	Returns the Euclidean norm (2-norm) of the configuration
double	normInf()	Returns the infinte norm ( \inf -norm) of the configuration
void	set(long i, double d)
void	setSubPart(long index, Q part)	Set subpart of vector.
int	size()	The dimension of the configuration vector.
Q	subtract(Q b)	Vector subtraction.
VectorDouble	toStdVector()	Convert to a standard vector.
void	toStdVector(VectorDouble v)	Convert to a standard vector.
java.lang.String	toString()
static Q	zero(long n)	Returns Q of length n initialized with 0's

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

Q

public Q(long cPtr,
         boolean cMemoryOwn)

Q

public Q(long dim)

A configuration of vector of length dim.

Q

public Q()

Default constructor.

The vector will be of dimension zero.

Q

public Q(long n,
         double[] values)

Creates a Q of length n and initialized with values from values

The method reads n values from values and do not check whether reading out of bounds.

Parameters:

n - [in] Length of q.

values - [in] Array of values to initialize with

Q

public Q(int n,
         double a0)

Creates a Q of length n and initialize all values in Q to value

Parameters:

n - [in] Length of q.

Q

public Q(int n,
         double a0,
         double a1)

Creates a Q of length n and initialize all values in Q to the values specified after n

The number of arguments after n must match the number n.

Parameters:

n - [in] Length of q.

a0 - [in] Value to initialize q(0)

a1 - [in] Value to initialize q(1)

Q

public Q(int n,
         double a0,
         double a1,
         double a2)

Creates a Q of length n and initialize all values in Q to the values specified after n

The number of arguments after n must match the number n.

Parameters:

n - [in] Length of q.

a0 - [in] Value to initialize q(0)

a1 - [in] Value to initialize q(1)

a2 - [in] Values to initialize q(2)

Q

public Q(int n,
         double a0,
         double a1,
         double a2,
         double a3)

Creates a Q of length n and initialize all values in Q to the values specified after n

The number of arguments after n must match the number n.

Parameters:

n - [in] Length of q.

a0 - [in] Value to initialize q(0)

a1 - [in] Value to initialize q(1)

a2 - [in] Values to initialize q(2)

a3 - [in] Values to initialize q(3)

Q

public Q(int n,
         double a0,
         double a1,
         double a2,
         double a3,
         double a4)

Creates a Q of length n and initialize all values in Q to the values specified after n

The number of arguments after n must match the number n.

Parameters:

n - [in] Length of q.

a0 - [in] Value to initialize q(0)

a1 - [in] Value to initialize q(1)

a2 - [in] Values to initialize q(2)

a3 - [in] Values to initialize q(3)

a4 - [in] Values to initialize q(4)

Q

public Q(int n,
         double a0,
         double a1,
         double a2,
         double a3,
         double a4,
         double a5)

Creates a Q of length n and initialize all values in Q to the values specified after n

The number of arguments after n must match the number n.

Parameters:

n - [in] Length of q.

a0 - [in] Value to initialize q(0)

a1 - [in] Value to initialize q(1)

a2 - [in] Values to initialize q(2)

a3 - [in] Values to initialize q(3)

a4 - [in] Values to initialize q(4)

a5 - [in] Values to initialize q(5)

Q

public Q(int n,
         double a0,
         double a1,
         double a2,
         double a3,
         double a4,
         double a5,
         double a6)

Creates a Q of length n and initialize all values in Q to the values specified after n

The number of arguments after n must match the number n.

Parameters:

n - [in] Length of q.

a0 - [in] Value to initialize q(0)

a1 - [in] Value to initialize q(1)

a2 - [in] Values to initialize q(2)

a3 - [in] Values to initialize q(3)

a4 - [in] Values to initialize q(4)

a5 - [in] Values to initialize q(5)

a6 - [in] Values to initialize q(6)

Q

public Q(int n,
         double a0,
         double a1,
         double a2,
         double a3,
         double a4,
         double a5,
         double a6,
         double a7)

Creates a Q of length n and initialize all values in Q to the values specified after n

The number of arguments after n must match the number n.

Parameters:

n - [in] Length of q.

a0 - [in] Value to initialize q(0)

a1 - [in] Value to initialize q(1)

a2 - [in] Values to initialize q(2)

a3 - [in] Values to initialize q(3)

a4 - [in] Values to initialize q(4)

a5 - [in] Values to initialize q(5)

a6 - [in] Values to initialize q(6)

a7 - [in] Values to initialize q(7)

Q

public Q(int n,
         double a0,
         double a1,
         double a2,
         double a3,
         double a4,
         double a5,
         double a6,
         double a7,
         double a8)

Creates a Q of length n and initialize all values in Q to the values specified after n

The number of arguments after n must match the number n.

Parameters:

n - [in] Length of q.

a0 - [in] Value to initialize q(0)

a1 - [in] Value to initialize q(1)

a2 - [in] Values to initialize q(2)

a3 - [in] Values to initialize q(3)

a4 - [in] Values to initialize q(4)

a5 - [in] Values to initialize q(5)

a6 - [in] Values to initialize q(6)

a7 - [in] Values to initialize q(7)

a8 - [in] Values to initialize q(8)

Q

public Q(int n,
         double a0,
         double a1,
         double a2,
         double a3,
         double a4,
         double a5,
         double a6,
         double a7,
         double a8,
         double a9)

Creates a Q of length n and initialize all values in Q to the values specified after n

The number of arguments after n must match the number n.

Parameters:

n - [in] Length of q.

a0 - [in] Value to initialize q(0)

a1 - [in] Value to initialize q(1)

a2 - [in] Values to initialize q(2)

a3 - [in] Values to initialize q(3)

a4 - [in] Values to initialize q(4)

a5 - [in] Values to initialize q(5)

a6 - [in] Values to initialize q(6)

a7 - [in] Values to initialize q(7)

a8 - [in] Values to initialize q(8)

a9 - [in] Values to initialize q(9)

Q

public Q(VectorDouble r)

Construct a configuration vector from a std::vector
expression.

Parameters:

r - [in] An expression for a vector of doubles

Q

public Q(EigenVectorXd q)

Construct from Eigen base.

Parameters:

q - [in] Eigen base.

Method Detail

getCPtr

public static long getCPtr(Q obj)

delete

public void delete()

zero

public static Q zero(long n)

Returns Q of length n initialized with 0's

size

public int size()

The dimension of the configuration vector.

empty

public boolean empty()

True if the configuration is of dimension zero.

e

public EigenVectorXd e()

Accessor for the internal Eigen vector state.

getSubPart

public Q getSubPart(long start,
                    long cnt)

Extracts a sub part (range) of this Q.

Parameters:

start - [in] Start index

cnt - [in] the number of elements to include

Returns:

setSubPart

public void setSubPart(long index,
                       Q part)

Set subpart of vector.

Parameters:

index - [in] the initial index.

part - [in] the part to insert beginning from index.

norm2

public double norm2()

Returns the Euclidean norm (2-norm) of the configuration

Returns:

the norm

norm1

public double norm1()

Returns the Manhatten norm (1-norm) of the configuration

Returns:

the norm

normInf

public double normInf()

Returns the infinte norm ( \inf -norm) of the configuration

Returns:

the norm

negate

public Q negate()

subtract

public Q subtract(Q b)

Vector subtraction.

add

public Q add(Q b)

Vector addition.

multiply

public Q multiply(double s)

Scalar multiplication.

divide

public Q divide(double s)

Scalar division.

leessThan

public boolean leessThan(Q q)

Compares whether this is less than q

The less operator is defined such that the first index is the most significant. That is
if (*this)[0] < q[0] then true is returned. If (*this)[0] > q[0] false is returned and
only if (*this)[0] == q[0] is the next index considered.

toStdVector

public void toStdVector(VectorDouble v)

Convert to a standard vector.

Parameters:

v - [out] the result.

toStdVector

public VectorDouble toStdVector()

Convert to a standard vector.

Returns:

the result.

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

get

public double get(long i)

set

public void set(long i,
                double d)