#include <Vect2.h>

Inheritance diagram for larcfm::Vect2:

Public Member Functions
	Vect2 (const double xx=0.0, const double yy=0.0)

virtual	~Vect2 ()

bool	isZero () const

bool	almostEquals (const Vect2 &v) const

bool	almostEquals (const Vect2 &v, INT64FM maxUlps) const

Vect2	operator+ (const Vect2 &v) const

Vect2	operator- (const Vect2 &v) const

Vect2	operator- () const

Vect2	operator* (const double k) const

double	operator* (const Vect2 &v) const

bool	operator== (const Vect2 &v) const

bool	operator!= (const Vect2 &v) const

Vect2	Hat () const

Vect2	Add (const Vect2 &v) const

Vect2	Sub (const Vect2 &v) const

Vect2	Neg () const

Vect2	Scal (double k) const

Vect2	ScalAdd (const double k, const Vect2 &v) const

Vect2	AddScal (double k, const Vect2 &v) const

Vect2	PerpR () const

Vect2	PerpL () const

Vect2	linear (const Vect2 &v, double t) const

double	distance (const Vect2 &s) const

double	dot (const double x, const double y) const

double	dot (const Vect2 &v) const

double	det (const double x, const double y) const

double	det (const Vect2 &v) const

double	sqv () const

double	norm () const

double	angle () const

double	trk () const

double	compassAngle () const

double	compassAngle (const Vect2 &v2) const

bool	leq (const Vect2 &v, const Vect2 &vo) const

bool	isInvalid () const

std::string	toString () const

std::string	toString (int precision) const

std::string	toStringNP (const std::string &xunit, const std::string &yunit) const

std::string	toStringNP (const std::string &xunit, const std::string &yunit, int precision) const

std::string	formatXY (const std::string &pre, const std::string &mid, const std::string &post) const

std::string	formatXY (int prec, const std::string &pre, const std::string &mid, const std::string &post) const

std::string	toPVS () const

std::string	toPVS (int precision) const

bool	within_epsilon (const Vect2 &v2, double epsilon) const

Static Public Member Functions
static Vect2	mkTrkGs (double trk, double gs)

static double	actual_tcpa (const Vect2 &so, const Vect2 &vo, const Vect2 &si, const Vect2 &vi)

static double	tcpa (const Vect2 &so, const Vect2 &vo, const Vect2 &si, const Vect2 &vi)

static double	dcpa (const Vect2 &so, const Vect2 &vo, const Vect2 &si, const Vect2 &vi)

static double	distPerp (const Vect2 &s, const Vect2 &v, const Vect2 &q)

static double	distAlong (const Vect2 &s, const Vect2 &v, const Vect2 &q)

static Vect2	intersect_pt (const Vect2 &s0, const Vect2 &v0, const Vect2 &s1, const Vect2 &v1)

static const Vect2 &	ZERO ()

static const Vect2 &	INVALID ()

Public Attributes
double	x

double	y

Private Member Functions
double	sqRel (const Vect2 &v) const

Detailed Description

2-Dimensional mathematical vectors. Vect2 is immutable. Once these objects are created they can never be changed so multiple references to the same object will never cause problems. However, it does mean that for most vector operations new objects are created. Methods that start with a capital letter create a new object, just as a reminder of this behavior.

Constructor & Destructor Documentation

◆ Vect2()

larcfm::Vect2::Vect2	(	const double	xx = `0.0`,
		const double	yy = `0.0`
	)

Creates a new vector with coordinates (x,y).

Parameters

xx	Real value
yy	Real value

◆ ~Vect2()

virtual larcfm::Vect2::~Vect2 ( )

inlinevirtual

Destructor

Member Function Documentation

◆ actual_tcpa()

double larcfm::Vect2::actual_tcpa	(	const Vect2 &	so,
		const Vect2 &	vo,
		const Vect2 &	si,
		const Vect2 &	vi
	)

static

Return actual time of closest point approach (return negative infinity if parallel)

◆ Add()

Vect2 larcfm::Vect2::Add ( const Vect2 & v ) const

Vector addition.

Parameters

v Vector

Returns: the vector addition of this vector and v.

◆ AddScal()

Vect2 larcfm::Vect2::AddScal	(	double	k,
		const Vect2 &	v
	)		const

Addition and scalar multiplication. Compute: this + k*v;

Parameters

k	real value
v	vector

Returns: the addition of this vector to v scaled by k.

◆ almostEquals() [1/2]

bool larcfm::Vect2::almostEquals ( const Vect2 & v ) const

Checks if vectors are almost equal.

Parameters

v Vector

Returns: true, if this vector is almost equal to v.

◆ almostEquals() [2/2]

bool larcfm::Vect2::almostEquals	(	const Vect2 &	v,
		INT64FM	maxUlps
	)		const

Checks if vectors are almost equal.

Parameters

v	Vector
maxUlps	unit of least precision

Returns: true, if this vector is almost equal to v.

◆ angle()

double larcfm::Vect2::angle ( ) const

Angle.

Returns: the angle of this vector in the range (-pi, pi]. Convention is counter-clockwise with respect to east.

◆ compassAngle() [1/2]

double larcfm::Vect2::compassAngle ( ) const

Compass angle.

Returns: the track angle of this vector in the range [0, 2*pi). Convention is clockwise with respect to north.

◆ compassAngle() [2/2]

double larcfm::Vect2::compassAngle ( const Vect2 & v2 ) const

Compass angle from this position to v2

Parameters

v2 vector

Returns: the track angle of v2-this vector in the range [0, 2*Math.PI). Convention is clockwise with respect to north.

◆ dcpa()

double larcfm::Vect2::dcpa	(	const Vect2 &	so,
		const Vect2 &	vo,
		const Vect2 &	si,
		const Vect2 &	vi
	)

static

distance at time of closest point of approach

Parameters

so	position of ownship
vo	velocity of ownship
si	position of intruder
vi	velocity of intruder

Returns: distance at time of closest point of approach

Return distance at time of closest point of approach

◆ det() [1/2]

double larcfm::Vect2::det	(	const double	x,
		const double	y
	)		const

Determinant.

Parameters

x	Real value
y	Real value

Returns: the determinant of this vector and (x,y).

◆ det() [2/2]

double larcfm::Vect2::det ( const Vect2 & v ) const

Determinant.

Parameters

v Vector

Returns: the determinant of this vector and v.

◆ distAlong()

double larcfm::Vect2::distAlong	(	const Vect2 &	s,
		const Vect2 &	v,
		const Vect2 &	q
	)

static

returns the longitudinal distance between line defined by s,v and point q.

Parameters

s	point on line
v	direction vector of line
q	a point not on the line

Returns: longitudinal distance

returns the perpendicular distance between line defined vy s,v and point q.

Parameters

s
v
q

◆ distPerp()

double larcfm::Vect2::distPerp	(	const Vect2 &	s,
		const Vect2 &	v,
		const Vect2 &	q
	)

static

returns the perpendicular distance between line defined by s,v and point q.

Parameters

s	point on line
v	direction vector of line
q	a point not on the line

Returns: perpendicular distance

returns the perpendicular distance between line defined vy s,v and point q.

Parameters

s
v
q

◆ dot() [1/2]

double larcfm::Vect2::dot	(	const double	x,
		const double	y
	)		const

Dot product.

Parameters

x	Real value
y	Real value

Returns: the dot product of this vector and (x,y).

◆ dot() [2/2]

double larcfm::Vect2::dot ( const Vect2 & v ) const

Dot product.

Parameters

v Vector

Returns: the dot product of this vector and v.

◆ Hat()

Vect2 larcfm::Vect2::Hat ( ) const

Make a unit vector from the current vector. If it is a zero vector, then a copy is returned.

Returns: the unit vector

◆ intersect_pt()

Vect2 larcfm::Vect2::intersect_pt	(	const Vect2 &	s0,
		const Vect2 &	v0,
		const Vect2 &	s1,
		const Vect2 &	v1
	)

static

Computes intersection point of two lines

Parameters

s0	starting point of line 1
v0	direction vector for line 1
s1	starting point of line 2
v1	direction vector of line 2

Returns: 2-dimensional point of intersection, or an invalid point if they are parallel

◆ INVALID()

const Vect2 & larcfm::Vect2::INVALID ( )

static

Return an "invalid" vector

◆ isInvalid()

bool larcfm::Vect2::isInvalid ( ) const

Returns true if the current vector has an "invalid" value

Returns: true if invalid

◆ isZero()

bool larcfm::Vect2::isZero ( ) const

Checks if vector is zero.

Returns: true, if this vector is zero.

◆ leq()

bool larcfm::Vect2::leq	(	const Vect2 &	v,
		const Vect2 &	vo
	)		const

Relative less or equal.

Parameters

v	Vector
vo	Vector

Returns: true, if the norm of Sub(vo) is less or equal than the norm of v.Sub(vo).

◆ linear()

Vect2 larcfm::Vect2::linear	(	const Vect2 &	v,
		double	t
	)		const

Calculates position after t time units in direction and magnitude of velocity v

Parameters

v	velocity
t	time

Returns: the new position

◆ mkTrkGs()

Vect2 larcfm::Vect2::mkTrkGs	(	double	trk,
		double	gs
	)

static

Construct a Vect2 from a track angle and ground speed. This is a vector of length gs pointed in the direction of track angle of trk.

Parameters

trk	track angle
gs	ground speed

Returns: a vector in with the given length and with the direction of track angle

◆ Neg()

Vect2 larcfm::Vect2::Neg ( ) const

Vector negation.

Returns: the vector negation of of this vector.

◆ norm()

double larcfm::Vect2::norm ( ) const

Norm.

Returns: the norm of of this vector.

◆ operator!=()

bool larcfm::Vect2::operator!= ( const Vect2 & v ) const

Is any component not exactly equal

◆ operator*() [1/2]

Vect2 larcfm::Vect2::operator* ( const double k ) const

Scalar multiplication.

Parameters

k	Real value

Returns: the vector scalar multiplication of this vector and k.

◆ operator*() [2/2]

double larcfm::Vect2::operator* ( const Vect2 & v ) const

Dot product.

Parameters

v Vector

Returns: the dot product of this vector and v.

◆ operator+()

Vect2 larcfm::Vect2::operator+ ( const Vect2 & v ) const

Vector addition.

Parameters

v Vector

Returns: the vector addition of this vector and v.

◆ operator-() [1/2]

Vect2 larcfm::Vect2::operator- ( ) const

Vector negation.

Returns: the vector negation of of this vector.

◆ operator-() [2/2]

Vect2 larcfm::Vect2::operator- ( const Vect2 & v ) const

Vector subtraction.

Parameters

v Vector

Returns: the vector subtraction of this vector and v.

◆ operator==()

bool larcfm::Vect2::operator== ( const Vect2 & v ) const

Exact equality

◆ PerpL()

Vect2 larcfm::Vect2::PerpL ( ) const

Left perpendicular.

Returns: the left perpendicular of this vector, i.e., (-y, x).

◆ PerpR()

Vect2 larcfm::Vect2::PerpR ( ) const

Right perpendicular.

Returns: the right perpendicular of this vector, i.e., (y, -x).

◆ Scal()

Vect2 larcfm::Vect2::Scal ( double k ) const

Scalar multiplication.

Parameters

k	Real value

Returns: the vector scalar multiplication of this vector and k.

◆ ScalAdd()

Vect2 larcfm::Vect2::ScalAdd	(	const double	k,
		const Vect2 &	v
	)		const

Scalar and addition multiplication. Compute: k*this + v

Parameters

k	real value
v	vector

Returns: the scalar multiplication this vector and k, followed by an addition to vector v.

◆ sqv()

double larcfm::Vect2::sqv ( ) const

Square.

Returns: the dot product of this vector with itself.

◆ Sub()

Vect2 larcfm::Vect2::Sub ( const Vect2 & v ) const

Vector subtraction.

Parameters

v Vector

Returns: the vector subtraction of this vector and v.

◆ tcpa()

double larcfm::Vect2::tcpa	(	const Vect2 &	so,
		const Vect2 &	vo,
		const Vect2 &	si,
		const Vect2 &	vi
	)

static

time to closest point of approach if time is negative or velocities are parallel returns 0

Return time to closest point approach if time is negative or velocities are parallel returns 0

◆ toString() [1/2]

std::string larcfm::Vect2::toString ( ) const

A string representation of this vector

◆ toString() [2/2]

std::string larcfm::Vect2::toString ( int precision ) const

A string representation of this vector

Parameters

precision number of digits of precision

Returns: string representation

◆ toStringNP()

std::string larcfm::Vect2::toStringNP	(	const std::string &	xunit,
		const std::string &	yunit
	)		const

A string representation of this vector

◆ trk()

double larcfm::Vect2::trk ( ) const

Track angle.

Returns: the track angle of this vector in the range (-pi, pi]. The track angle is the clockwise angle with respect to north, i.e., v.track() = pi/2 - v.angle().

◆ within_epsilon()

bool larcfm::Vect2::within_epsilon	(	const Vect2 &	v2,
		double	epsilon
	)		const

Returns true if x components and y components of both vectors are within the given bounds

Parameters

v2	vector
epsilon	bound

Returns: true if vector is within bounds

◆ ZERO()

const Vect2 & larcfm::Vect2::ZERO ( )

static

Return a zero vector

Member Data Documentation

◆ x

double larcfm::Vect2::x

The x-component

◆ y

double larcfm::Vect2::y

The y-component

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

Modules/ACCoRD/inc/Vect2.h
Modules/ACCoRD/src/Vect2.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Vect2()

◆ ~Vect2()

Member Function Documentation

◆ actual_tcpa()

◆ Add()

◆ AddScal()

◆ almostEquals() [1/2]

◆ almostEquals() [2/2]

◆ angle()

◆ compassAngle() [1/2]

◆ compassAngle() [2/2]

◆ dcpa()

◆ det() [1/2]

◆ det() [2/2]

◆ distAlong()

◆ distPerp()

◆ dot() [1/2]

◆ dot() [2/2]

◆ Hat()

◆ intersect_pt()

◆ INVALID()

◆ isInvalid()

◆ isZero()

◆ leq()

◆ linear()

◆ mkTrkGs()

◆ Neg()

◆ norm()

◆ operator!=()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator+()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator==()

◆ PerpL()

◆ PerpR()

◆ Scal()

◆ ScalAdd()

◆ sqv()

◆ Sub()

◆ tcpa()

◆ toString() [1/2]

◆ toString() [2/2]

◆ toStringNP()

◆ trk()

◆ within_epsilon()

◆ ZERO()

Member Data Documentation

◆ x

◆ y