java.lang.Object
- org.robwork.sdurw_math.Vector3D

```
public class Vector3D
extends java.lang.Object
```
A 3D vector \mathbf{v}\in \mathbb{R}^3

\robabx{i}{j}{\mathbf{v}} = \left[ \begin{array}{c} v_x \\ v_y \\ v_z \end{array} \right]

Usage example:

const Vector3D<> v1(1.0, 2.0, 3.0); const Vector3D<> v2(6.0, 7.0, 8.0); const Vector3D<> v3 = cross(v1, v2); const double d = dot(v1, v2); const Vector3D<> v4 = v2 - v1;

Constructor Summary

Constructors
Constructor	Description
`Vector3D()`	Creates a 3D vector initialized with 0's
`Vector3D(double x, double y, double z)`	Creates a 3D vector
`Vector3D(long cPtr, boolean cMemoryOwn)`
`Vector3D(vector_d vec)`	construct vector from std::vector
`Vector3D(Vector3D copy_vec)`	Copy constructor

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`EAA`	`add(EAA rhs)`
`Vector3D`	`add(Vector3D b)`	Vector addition.
`Vector3D`	`addAssign(Vector3D v)`	Vector addition.
`Vector3D`	`cross(Vector3D vec)`	Calculate cross product
`void`	`delete()`
`Vector3D`	`devideAssign(double s)`	Scalar division.
`Vector3D`	`divide(double s)`	Scalar division.
`double`	`dot(Vector3D vec)`	calculate the dot product
`EigenVector3d`	`e()`	Returns Reference to Eigen Vector
`Vector3D`	`elemAdd(double rhs)`	Scalar addition.
`Vector3D`	`elemDivide(Vector3D rhs)`	element wise division.
`Vector3D`	`elemMultiply(Vector3D rhs)`	Elementweise multiplication.
`Vector3D`	`elemSubtract(double rhs)`	Scalar subtraction.
`boolean`	`equals(EAA rhs)`
`boolean`	`equals(Vector3D b)`	Compare with b for equality.
`double`	`get(long i)`
`static long`	`getCPtr(Vector3D obj)`
`Vector3D`	`multiply(double rhs)`	Scalar multiplication.
`VelocityScrew6D`	`multiply(VelocityScrew6D rhs)`
`Wrench6D`	`multiply(Wrench6D rhs)`
`Vector3D`	`multiplyAssign(double s)`	Scalar multiplication.
`Vector3D`	`negate()`	Unary minus. negative version
`double`	`norm1()`	Returns the Manhatten norm (1-norm) of the vector
`double`	`norm2()`	Returns the Euclidean norm (2-norm) of the vector
`Vector3D`	`normalize()`	normalize vector to get length 1
`double`	`normInf()`	Returns the infinte norm ( \inf-norm) of the vector
`boolean`	`notEqual(EAA rhs)`
`boolean`	`notEqual(Vector3D b)`	Compare with b for inequality.
`void`	`set(long i, double d)`
`long`	`size()`	The dimension of the vector (i.e.
`EAA`	`subtract(EAA rhs)`
`Vector3D`	`subtract(Vector3D b)`	Vector subtraction.
`Vector3D`	`subtractAssign(Vector3D v)`	Vector subtraction.
`java.lang.String`	`toString()`
`static Vector3D`	`x()`	Get x vector (1,0,0)
`static Vector3D`	`y()`	Get y vector (0,1,0)
`static Vector3D`	`z()`	Get z vector (0,0,1)
`static Vector3D`	`zero()`	Get zero vector.

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

- Constructor Detail
  - Vector3D
```
public Vector3D(long cPtr,
                boolean cMemoryOwn)
```
  - Vector3D
```
public Vector3D()
```
    Creates a 3D vector initialized with 0's
  - Vector3D
```
public Vector3D(double x,
                double y,
                double z)
```
    Creates a 3D vector
    
    Parameters:
    
    x - [in] x
    
    y - [in] y
    
    z - [in] z
  - Vector3D
```
public Vector3D(Vector3D copy_vec)
```
    Copy constructor
    
    Parameters:
    
    copy_vec - [in] vector to copy
  - Vector3D
```
public Vector3D(vector_d vec)
```
    construct vector from std::vector
    
    Parameters:
    
    vec - [in] the vector to construct from
- Method Detail
  - getCPtr
```
public static long getCPtr(Vector3D obj)
```
  - delete
```
public void delete()
```
  - size
```
public long size()
```
    The dimension of the vector (i.e. 3).
    This method is provided to help support generic algorithms using
    size() and operator[].
    
    Returns:
    
    the size
  - zero
```
public static Vector3D zero()
```
    Get zero vector.
    
    Returns:
    
    vector.
  - x
```
public static Vector3D x()
```
    Get x vector (1,0,0)
    
    Returns:
    
    vector.
  - y
```
public static Vector3D y()
```
    Get y vector (0,1,0)
    
    Returns:
    
    vector.
  - z
```
public static Vector3D z()
```
    Get z vector (0,0,1)
    
    Returns:
    
    vector.
  - elemDivide
```
public Vector3D elemDivide(Vector3D rhs)
```
    element wise division.
    
    Parameters:
    
    rhs - [in] the vector being devided with
    
    Returns:
    
    the resulting Vector3D
  - elemMultiply
```
public Vector3D elemMultiply(Vector3D rhs)
```
    Elementweise multiplication.
    
    Parameters:
    
    rhs - [in] vector
    
    Returns:
    
    the element wise product
  - subtract
```
public Vector3D subtract(Vector3D b)
```
    Vector subtraction.
  - add
```
public Vector3D add(Vector3D b)
```
    Vector addition.
  - negate
```
public Vector3D negate()
```
    Unary minus.
    negative version
  - divide
```
public Vector3D divide(double s)
```
    Scalar division.
    
    Parameters:
    
    s - [in] the scalar to devide with
    
    Returns:
    
    result of devision
  - multiply
```
public Vector3D multiply(double rhs)
```
    Scalar multiplication.
    
    Parameters:
    
    rhs - [in] the scalar to multiply with
    
    Returns:
    
    the product
  - elemSubtract
```
public Vector3D elemSubtract(double rhs)
```
    Scalar subtraction.
  - elemAdd
```
public Vector3D elemAdd(double rhs)
```
    Scalar addition.
  - norm2
```
public double norm2()
```
    Returns the Euclidean norm (2-norm) of the vector
    
    Returns:
    
    the norm
  - norm1
```
public double norm1()
```
    Returns the Manhatten norm (1-norm) of the vector
    
    Returns:
    
    the norm
  - normInf
```
public double normInf()
```
    Returns the infinte norm ( \inf-norm) of the vector
    
    Returns:
    
    the norm
  - cross
```
public Vector3D cross(Vector3D vec)
```
    Calculate cross product
    
    Parameters:
    
    vec - [in] the vector to cross with
    
    Returns:
    
    the cross product
  - dot
```
public double dot(Vector3D vec)
```
    calculate the dot product
    
    Parameters:
    
    vec - [in] the vecor to be dotted
    
    Returns:
    
    the dot product
  - normalize
```
public Vector3D normalize()
```
    normalize vector to get length 1
    
    Returns:
    
    the normalized Vector
  - e
```
public EigenVector3d e()
```
    Returns Reference to Eigen Vector
    
    Returns:
    
    reference to underling eigen
  - get
```
public double get(long i)
```
  - set
```
public void set(long i,
                double d)
```
  - toString
```
public java.lang.String toString()
```
    Overrides:
    
    toString in class java.lang.Object
  - multiplyAssign
```
public Vector3D multiplyAssign(double s)
```
    Scalar multiplication.
  - devideAssign
```
public Vector3D devideAssign(double s)
```
    Scalar division.
  - addAssign
```
public Vector3D addAssign(Vector3D v)
```
    Vector addition.
  - subtractAssign
```
public Vector3D subtractAssign(Vector3D v)
```
    Vector subtraction.
  - equals
```
public boolean equals(Vector3D b)
```
    Compare with b for equality.
    
    Parameters:
    
    b - [in] other vector.
    
    Returns:
    
    True if a equals b, false otherwise.
  - notEqual
```
public boolean notEqual(Vector3D b)
```
    Compare with b for inequality.
    
    Parameters:
    
    b - [in] other vector.
    
    Returns:
    
    True if a and b are different, false otherwise.
  - add
```
public EAA add(EAA rhs)
```
  - subtract
```
public EAA subtract(EAA rhs)
```
  - equals
```
public boolean equals(EAA rhs)
```
  - notEqual
```
public boolean notEqual(EAA rhs)
```
  - multiply
```
public Wrench6D multiply(Wrench6D rhs)
```
  - multiply
```
public VelocityScrew6D multiply(VelocityScrew6D rhs)
```

Class Vector3D

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

Vector3D

Vector3D

Vector3D

Vector3D

Vector3D

Method Detail

getCPtr

delete

size

zero

x

y

z

elemDivide

elemMultiply

subtract

add

negate

divide

multiply

elemSubtract

elemAdd

norm2

norm1

normInf

cross

dot

normalize

e

get

set

toString

multiplyAssign

devideAssign

addAssign

subtractAssign

equals

notEqual

add

subtract

equals

notEqual

multiply

multiply