Struct Vector3

Three element vector, typically used to describe a position, normal or euler rotation.

Namespace: ABB.Robotics.Math

Assembly: ABB.Robotics.Math.dll

Syntax

public struct Vector3

Constructors

Vector3(Axis)

Creates a unit vector from an axis

Declaration

public Vector3(Axis axis)

Parameters

Type	Name	Description
Axis	axis	axis

Exceptions

Type	Condition
ArgumentException	Invalid axis

Vector3(Vector4)

Creates a vector from a 4-vector, truncating the last element.

Declaration

public Vector3(Vector4 vec)

Parameters

Type	Name	Description
Vector4	vec

Vector3(Vector4, bool)

Creates a vector from a homogenous 4-vector.

Declaration

public Vector3(Vector4 vec, bool scale)

Parameters

Type	Name	Description
Vector4	vec
bool	scale	Rescale from homegenous coordinates

Vector3(double, double, double)

Creates a vector from three doubles.

Declaration

public Vector3(double x0, double y0, double z0)

Parameters

Type	Name	Description
double	x0
double	y0
double	z0

Vector3(double[])

Creates a vector from an array of doubles.

Declaration

public Vector3(double[] vec)

Parameters

Type	Name	Description
double[]	vec

Fields

XVector

Unit vector in the x direction.

Declaration

public static readonly Vector3 XVector

Field Value

Type	Description
Vector3

YVector

Unit vector in the y direction.

Declaration

public static readonly Vector3 YVector

Field Value

Type	Description
Vector3

ZVector

Unit vector in the z direction.

Declaration

public static readonly Vector3 ZVector

Field Value

Type	Description
Vector3

ZeroVector

Zero-length vector.

Declaration

public static readonly Vector3 ZeroVector

Field Value

Type	Description
Vector3

x

x,y,z values.

Declaration

public double x

Field Value

Type	Description
double

y

x,y,z values.

Declaration

public double y

Field Value

Type	Description
double

z

x,y,z values.

Declaration

public double z

Field Value

Type	Description
double

Properties

IsNaN

Returns a value indicating whether any elements evaluates to a value that is not a number (NaN).

Declaration

public bool IsNaN { get; }

Property Value

Type	Description
bool

this[int]

Array access.

Declaration

public double this[int index] { get; set; }

Parameters

Type	Name	Description
int	index

Property Value

Type	Description
double

Methods

Add(Vector3)

Element-wise addition method.

Declaration

public Vector3 Add(Vector3 rhs)

Parameters

Type	Name	Description
Vector3	rhs

Returns

Type	Description
Vector3

AlmostEquals(Vector3)

Comparison method for vectors with tolerance (EPS)

Declaration

public bool AlmostEquals(Vector3 vec)

Parameters

Type	Name	Description
Vector3	vec	Vector to compare with

Returns

Type	Description
bool	true if equals within tolerance

AlmostEquals(Vector3, double)

Comparison method for vectors with tolerance

Declaration

public bool AlmostEquals(Vector3 vec, double tolerance)

Parameters

Type	Name	Description
Vector3	vec	Vector to compare with
double	tolerance	Tolerance to use in the comparison

Returns

Type	Description
bool	true if equals within tolerance

Angle(Vector3)

Angle between this and a vector.

Declaration

public double Angle(Vector3 vec)

Parameters

Type	Name	Description
Vector3	vec

Returns

Type	Description
double	radians

Angle(Vector3, Vector3)

Angle betsween this and a vector signed depending on rotation direction.

Declaration

public double Angle(Vector3 vec, Vector3 refVec)

Parameters

Type	Name	Description
Vector3	vec
Vector3	refVec	Reference vector

Returns

Type	Description
double	radians

Remarks

The sign positive if vec is rotated anti-clockwise when seen from the direction given by the reference vector.

Cross(Vector3)

Cross product.

Declaration

public Vector3 Cross(Vector3 vec)

Parameters

Type	Name	Description
Vector3	vec

Returns

Type	Description
Vector3

Distance(Vector3)

Returns the distance between this and a vector.

Declaration

public double Distance(Vector3 vec)

Parameters

Type	Name	Description
Vector3	vec

Returns

Type	Description
double

Divide(double)

Vector scalar division method.

Declaration

public Vector3 Divide(double rhs)

Parameters

Type	Name	Description
double	rhs

Returns

Type	Description
Vector3

Dot(Vector3)

Dot product.

Declaration

public double Dot(Vector3 vec)

Parameters

Type	Name	Description
Vector3	vec

Returns

Type	Description
double

Equals(object)

Declaration

public override bool Equals(object obj)

Parameters

Type	Name	Description
object	obj

Returns

Type	Description
bool

Overrides

ValueType.Equals(object)

GetHashCode()

Declaration

public override int GetHashCode()

Returns

Type	Description
int

Overrides

ValueType.GetHashCode()

Length()

Returns the length of this.

Declaration

public double Length()

Returns

Type	Description
double

LinearInterpolate(Vector3, double)

Linear interpolation between this and a vector.

Declaration

public Vector3 LinearInterpolate(Vector3 vec, double lerp)

Parameters

Type	Name	Description
Vector3	vec	Second vector
double	lerp	Interpolation parameter

Returns

Type	Description
Vector3	Interpolated vector

Remarks

Use for position vectors

Multiply(double)

Vector-scalar multiplication method.

Declaration

public Vector3 Multiply(double rhs)

Parameters

Type	Name	Description
double	rhs

Returns

Type	Description
Vector3

Normal()

Returns a unit vector normal to this

Declaration

public Vector3 Normal()

Returns

Type	Description
Vector3

Normalize()

Ensures that the length of this is 1.

Declaration

public void Normalize()

Normalized()

Returns a vector with the same direction as this, but with length 1

Declaration

public Vector3 Normalized()

Returns

Type	Description
Vector3

Parse(string)

Converts the string representation to its Vector3 equivalent.

Declaration

public static Vector3 Parse(string value)

Parameters

Type	Name	Description
string	value

Returns

Type	Description
Vector3

Parse(string, IFormatProvider)

Converts the string representation to its Vector3 equivalent.

Declaration

public static Vector3 Parse(string value, IFormatProvider formatProvider)

Parameters

Type	Name	Description
string	value
IFormatProvider	formatProvider

Returns

Type	Description
Vector3

Rotate(Vector3, double)

Returns a vector that is this vector rotated around an axis.

Declaration

public Vector3 Rotate(Vector3 axis, double angle)

Parameters

Type	Name	Description
Vector3	axis	Rotation axis
double	angle	Rotation angle

Returns

Type	Description
Vector3	Rotated vector

SphericalInterpolate(Vector3, double)

Spherical interpolation between this and a vector.

Declaration

public Vector3 SphericalInterpolate(Vector3 vec, double lerp)

Parameters

Type	Name	Description
Vector3	vec	Second vector
double	lerp	Interpolation parameter

Returns

Type	Description
Vector3	Interpolated vector

Remarks

Use for direction vectors

SquareDistance(Vector3)

Returns the squared distance between this and a vector.

Declaration

public double SquareDistance(Vector3 vec)

Parameters

Type	Name	Description
Vector3	vec

Returns

Type	Description
double

SquareLength()

Returns the squared length of this.

Declaration

public double SquareLength()

Returns

Type	Description
double

Subtract(Vector3)

Element-wise subtraction method.

Declaration

public Vector3 Subtract(Vector3 rhs)

Parameters

Type	Name	Description
Vector3	rhs

Returns

Type	Description
Vector3

ToArray()

Returns the elements (x,y,z) as an array

Declaration

public double[] ToArray()

Returns

Type	Description
double[]

ToString()

Returns a string in the format
[x y z]

Declaration

public override string ToString()

Returns

Type	Description
string

Overrides

ValueType.ToString()

ToString(IFormatProvider)

Returns a string in the format
[x y z]

Declaration

public string ToString(IFormatProvider formatProvider)

Parameters

Type	Name	Description
IFormatProvider	formatProvider

Returns

Type	Description
string

ToString(int, string)

Returns a string in the format x y z with a specified number of decimals and separator between the elements.

Declaration

public string ToString(int numDecimals, string separator)

Parameters

Type	Name	Description
int	numDecimals
string	separator

Returns

Type	Description
string

ToString(int, string, IFormatProvider)

Returns a string in the format x y z with a specified number of decimals and separator between the elements.

Declaration

public string ToString(int numDecimals, string separator, IFormatProvider formatProvider)

Parameters

Type	Name	Description
int	numDecimals
string	separator
IFormatProvider	formatProvider

Returns

Type	Description
string

TransformPoint(Matrix4, Matrix4)

Transforms a point between coordinate systems.

Declaration

public Vector3 TransformPoint(Matrix4 from, Matrix4 to)

Parameters

Type	Name	Description
Matrix4	from
Matrix4	to

Returns

Type	Description
Vector3	Point in the "to" system

TransformVector(Matrix4, Matrix4)

Transforms a vector between coordinate systems.

Declaration

public Vector3 TransformVector(Matrix4 from, Matrix4 to)

Parameters

Type	Name	Description
Matrix4	from
Matrix4	to

Returns

Type	Description
Vector3	Vector in the "to" system

TryParse(string, out Vector3)

Converts the string representation to its Vector3 equivalent.

Declaration

public static bool TryParse(string value, out Vector3 result)

Parameters

Type	Name	Description
string	value
Vector3	result

Returns

Type	Description
bool	A value indicating whether the conversion succeeded

TryParse(string, IFormatProvider, out Vector3)

Converts the string representation to its Vector3 equivalent.

Declaration

public static bool TryParse(string value, IFormatProvider formatProvider, out Vector3 result)

Parameters

Type	Name	Description
string	value
IFormatProvider	formatProvider
Vector3	result

Returns

Type	Description
bool	A value indicating whether the conversion succeeded

TryParse(string, IFormatProvider, string, out Vector3)

Converts the string representation to its Vector3 equivalent for a string with a specified separator between the elements.

Declaration

public static bool TryParse(string value, IFormatProvider formatProvider, string separator, out Vector3 result)

Parameters

Type	Name	Description
string	value
IFormatProvider	formatProvider
string	separator
Vector3	result

Returns

Type	Description
bool	A value indicating whether the conversion succeeded

WithX(double)

Creates a new vector from this with the x element set to a new value.

Declaration

public Vector3 WithX(double value)

Parameters

Type	Name	Description
double	value

Returns

Type	Description
Vector3

WithY(double)

Creates a new vector from this with the x element set to a new value.

Declaration

public Vector3 WithY(double value)

Parameters

Type	Name	Description
double	value

Returns

Type	Description
Vector3

WithZ(double)

Creates a new vector from this with the x element set to a new value.

Declaration

public Vector3 WithZ(double value)

Parameters

Type	Name	Description
double	value

Returns

Type	Description
Vector3

Operators

operator +(Vector3, Vector3)

Element-wise addition operator.

Declaration

public static Vector3 operator +(Vector3 lhs, Vector3 rhs)

Parameters

Type	Name	Description
Vector3	lhs
Vector3	rhs

Returns

Type	Description
Vector3

operator /(Vector3, double)

Vector-scalar division operator.

Declaration

public static Vector3 operator /(Vector3 lhs, double rhs)

Parameters

Type	Name	Description
Vector3	lhs
double	rhs

Returns

Type	Description
Vector3

operator ==(Vector3, Vector3)

Equality operator

Declaration

public static bool operator ==(Vector3 lhs, Vector3 rhs)

Parameters

Type	Name	Description
Vector3	lhs
Vector3	rhs

Returns

Type	Description
bool

explicit operator Vector3(double[])

Array to vector conversion.

Declaration

public static explicit operator Vector3(double[] arg)

Parameters

Type	Name	Description
double[]	arg

Returns

Type	Description
Vector3

operator !=(Vector3, Vector3)

Inequality operator

Declaration

public static bool operator !=(Vector3 lhs, Vector3 rhs)

Parameters

Type	Name	Description
Vector3	lhs
Vector3	rhs

Returns

Type	Description
bool

operator *(Vector3, double)

Vector-scalar multiplication operator.

Declaration

public static Vector3 operator *(Vector3 lhs, double rhs)

Parameters

Type	Name	Description
Vector3	lhs
double	rhs

Returns

Type	Description
Vector3

operator *(double, Vector3)

Scalar-Vector multiplication operator.

Declaration

public static Vector3 operator *(double lhs, Vector3 rhs)

Parameters

Type	Name	Description
double	lhs
Vector3	rhs

Returns

Type	Description
Vector3

operator -(Vector3, Vector3)

Element-wise subtraction operator.

Declaration

public static Vector3 operator -(Vector3 lhs, Vector3 rhs)

Parameters

Type	Name	Description
Vector3	lhs
Vector3	rhs

Returns

Type	Description
Vector3

operator -(Vector3)

Unary negation operator.

Declaration

public static Vector3 operator -(Vector3 arg)

Parameters

Type	Name	Description
Vector3	arg

Returns

Type	Description
Vector3