#include <Vector3D.h>

Inheritance diagram for carla::geom::Vector3D:

Public Member Functions
Vector3D	Abs () const

float	Length () const

float	Length2D () const

Vector3D	MakeUnitVector (const float epsilon=2.0f *std::numeric_limits< float >::epsilon()) const
	Return a unit-length copy of this vector.

template<typename MSGPACK_OBJECT >
void	msgpack_object (MSGPACK_OBJECT *o, clmdep_msgpack::zone &sneaky_variable_that_shadows_z) const

template<typename Packer >
void	msgpack_pack (Packer &pk) const

void	msgpack_unpack (clmdep_msgpack::object const &o)

constexpr bool	operator!= (const Vector3D &rhs) const

constexpr Vector3D &	operator*= (float rhs)

constexpr Vector3D &	operator+= (const Vector3D &rhs)

constexpr Vector3D &	operator-= (const float f)

constexpr Vector3D &	operator-= (const Vector3D &rhs)

constexpr Vector3D &	operator/= (float rhs)

Vector3D &	operator= (const FVector &rhs)=delete

constexpr bool	operator== (const Vector3D &rhs) const

constexpr float	SquaredLength () const

constexpr float	SquaredLength2D () const

Vector3D	ToCentimeters () const
	Return a Vector3D converted from meters to centimeters.

FVector	ToFVector () const

Vector3D	ToMeters () const
	Return a Vector3D converted from centimeters to meters.

	Vector3D ()=default

	Vector3D (const FVector &v)=delete
	These 2 methods are explicitly deleted to avoid creating them by other users, unlike locations, some vectors have units and some don't, by removing these methods we found several places were the conversion from cm to m was missing.

constexpr	Vector3D (float ix, float iy, float iz)

Public Attributes
float	x = 0.0f

float	y = 0.0f

float	z = 0.0f

Static Public Attributes
static constexpr auto	Dim = 3

Friends
constexpr friend Vector3D	operator* (float lhs, Vector3D rhs)

constexpr friend Vector3D	operator* (Vector3D lhs, float rhs)

constexpr friend Vector3D	operator+ (Vector3D lhs, const Vector3D &rhs)

constexpr friend Vector3D	operator- (Vector3D lhs, const Vector3D &rhs)

constexpr friend Vector3D	operator/ (float lhs, Vector3D rhs)

constexpr friend Vector3D	operator/ (Vector3D lhs, float rhs)

Detailed Description

Definition at line 17 of file geom/Vector3D.h.

Constructor & Destructor Documentation

◆ Vector3D() [1/3]

carla::geom::Vector3D::Vector3D ( )

default

Referenced by Abs(), and MakeUnitVector().

◆ Vector3D() [2/3]

constexpr carla::geom::Vector3D::Vector3D	(	float	ix,
		float	iy,
		float	iz
	)

inlineconstexpr

Definition at line 37 of file geom/Vector3D.h.

◆ Vector3D() [3/3]

carla::geom::Vector3D::Vector3D ( const FVector & v )

delete

These 2 methods are explicitly deleted to avoid creating them by other users, unlike locations, some vectors have units and some don't, by removing these methods we found several places were the conversion from cm to m was missing.

Member Function Documentation

◆ Abs()

Vector3D carla::geom::Vector3D::Abs ( ) const

inline

Definition at line 63 of file geom/Vector3D.h.

References Vector3D(), x, y, and z.

◆ Length()

float carla::geom::Vector3D::Length ( ) const

inline

Definition at line 51 of file geom/Vector3D.h.

References SquaredLength().

Referenced by carla::traffic_manager::MotionPlanStage::CollisionHandling(), AHSSLidar::ComputeDetection(), ARayCastLidar::ComputeDetection(), ARayCastLidar::ComputeIntensity(), carla::traffic_manager::CollisionStage::GetBoundary(), carla::geom::Math::GetVectorAngle(), carla::traffic_manager::TrafficLightStage::HandleNonSignalisedJunction(), MakeUnitVector(), carla::road::Map::SDFToMesh(), carla::traffic_manager::MotionPlanStage::Update(), carla::traffic_manager::CollisionStage::Update(), and carla::traffic_manager::LocalizationStage::Update().

◆ Length2D()

float carla::geom::Vector3D::Length2D ( ) const

inline

Definition at line 59 of file geom/Vector3D.h.

References SquaredLength2D().

Referenced by carla::road::Map::SDFToMesh().

◆ MakeUnitVector()

Vector3D carla::geom::Vector3D::MakeUnitVector ( const float epsilon = 2.0f * std::numeric_limits<float>::epsilon() ) const

inline

Return a unit-length copy of this vector.

When the vector's length is at or below epsilon, the input is returned unchanged (no runtime exception, no NaN). Callers that need the strict 1.0 / length normalization should pass epsilon = 0.

Definition at line 71 of file geom/Vector3D.h.

References Length(), Vector3D(), x, y, and z.

Referenced by carla::traffic_manager::DeviationCrossProduct(), carla::traffic_manager::DeviationDotProduct(), carla::traffic_manager::CollisionStage::GetBoundary(), carla::traffic_manager::CollisionStage::GetGeodesicBoundary(), carla::traffic_manager::CollisionStage::NegotiateCollision(), AHSSLidar::PostprocessDetection(), ARayCastLidar::PostprocessDetection(), carla::road::Map::SDFToMesh(), carla::client::detail::Client::SpawnActorWithParent(), and carla::traffic_manager::MotionPlanStage::Update().

◆ msgpack_object()

template<typename MSGPACK_OBJECT >

void carla::geom::Vector3D::msgpack_object	(	MSGPACK_OBJECT *	o,
		clmdep_msgpack::zone &	sneaky_variable_that_shadows_z
	)		const

inline

Definition at line 206 of file geom/Vector3D.h.

References x, y, and z.

◆ msgpack_pack()

template<typename Packer >

void carla::geom::Vector3D::msgpack_pack ( Packer & pk ) const

inline

Todo:: The following is copy-pasted from MSGPACK_DEFINE_ARRAY. This is a workaround for an issue in msgpack library. The MSGPACK_DEFINE_ARRAY macro is shadowing our z variable. https://github.com/msgpack/msgpack-c/issues/709

Definition at line 197 of file geom/Vector3D.h.

References x, y, and z.

◆ msgpack_unpack()

void carla::geom::Vector3D::msgpack_unpack ( clmdep_msgpack::object const & o )

inline

Definition at line 201 of file geom/Vector3D.h.

References x, y, and z.

◆ operator!=()

constexpr bool carla::geom::Vector3D::operator!= ( const Vector3D & rhs ) const

inlineconstexpr

Definition at line 158 of file geom/Vector3D.h.

◆ operator*=()

constexpr Vector3D & carla::geom::Vector3D::operator*= ( float rhs )

inlineconstexpr

Definition at line 116 of file geom/Vector3D.h.

References x, y, and z.

◆ operator+=()

constexpr Vector3D & carla::geom::Vector3D::operator+= ( const Vector3D & rhs )

inlineconstexpr

Definition at line 85 of file geom/Vector3D.h.

References x, y, and z.

◆ operator-=() [1/2]

constexpr Vector3D & carla::geom::Vector3D::operator-= ( const float f )

inlineconstexpr

Definition at line 109 of file geom/Vector3D.h.

References x, y, and z.

◆ operator-=() [2/2]

constexpr Vector3D & carla::geom::Vector3D::operator-= ( const Vector3D & rhs )

inlineconstexpr

Definition at line 97 of file geom/Vector3D.h.

References x, y, and z.

◆ operator/=()

constexpr Vector3D & carla::geom::Vector3D::operator/= ( float rhs )

inlineconstexpr

Definition at line 133 of file geom/Vector3D.h.

References x, y, and z.

◆ operator=()

Vector3D & carla::geom::Vector3D::operator= ( const FVector & rhs )

delete

◆ operator==()

constexpr bool carla::geom::Vector3D::operator== ( const Vector3D & rhs ) const

inlineconstexpr

Definition at line 154 of file geom/Vector3D.h.

References x, y, and z.

◆ SquaredLength()

constexpr float carla::geom::Vector3D::SquaredLength ( ) const

inlineconstexpr

Definition at line 47 of file geom/Vector3D.h.

References x, y, and z.

Referenced by Length(), carla::traffic_manager::MotionPlanStage::SafeAfterJunction(), carla::traffic_manager::LocalizationStage::Update(), carla::nav::WalkerManager::Update(), carla::nav::Navigation::UpdateCrowd(), and carla::traffic_manager::ALSM::UpdateIdleTime().

◆ SquaredLength2D()

constexpr float carla::geom::Vector3D::SquaredLength2D ( ) const

inlineconstexpr

Definition at line 55 of file geom/Vector3D.h.

References x, and y.

Referenced by Length2D().

◆ ToCentimeters()

Vector3D carla::geom::Vector3D::ToCentimeters ( ) const

inline

Return a Vector3D converted from meters to centimeters.

Definition at line 180 of file geom/Vector3D.h.

◆ ToFVector()

FVector carla::geom::Vector3D::ToFVector ( ) const

inline

Definition at line 184 of file geom/Vector3D.h.

References x, y, and z.

◆ ToMeters()

Vector3D carla::geom::Vector3D::ToMeters ( ) const

inline

Return a Vector3D converted from centimeters to meters.

Definition at line 175 of file geom/Vector3D.h.

Friends And Related Symbol Documentation

◆ operator* [1/2]

constexpr friend Vector3D operator*	(	float	lhs,
		Vector3D	rhs
	)

friend

Definition at line 128 of file geom/Vector3D.h.

◆ operator* [2/2]

constexpr friend Vector3D operator*	(	Vector3D	lhs,
		float	rhs
	)

friend

Definition at line 123 of file geom/Vector3D.h.

◆ operator+

constexpr friend Vector3D operator+	(	Vector3D	lhs,
		const Vector3D &	rhs
	)

friend

Definition at line 92 of file geom/Vector3D.h.

◆ operator-

constexpr friend Vector3D operator-	(	Vector3D	lhs,
		const Vector3D &	rhs
	)

friend

Definition at line 104 of file geom/Vector3D.h.

◆ operator/ [1/2]

constexpr friend Vector3D operator/	(	float	lhs,
		Vector3D	rhs
	)

friend

Definition at line 145 of file geom/Vector3D.h.

◆ operator/ [2/2]

constexpr friend Vector3D operator/	(	Vector3D	lhs,
		float	rhs
	)

friend

Definition at line 140 of file geom/Vector3D.h.

Member Data Documentation

◆ Dim

constexpr auto carla::geom::Vector3D::Dim = 3

staticconstexpr

Definition at line 19 of file geom/Vector3D.h.

◆ x

float carla::geom::Vector3D::x = 0.0f

Definition at line 25 of file geom/Vector3D.h.

◆ y

float carla::geom::Vector3D::y = 0.0f

Definition at line 27 of file geom/Vector3D.h.

◆ z

float carla::geom::Vector3D::z = 0.0f

Definition at line 29 of file geom/Vector3D.h.

Referenced by Abs(), CaService::AddBasicVehicleContainerHighFrequency(), carla::road::Map::AddElementToRtree(), carla::nav::Navigation::AddOrUpdateVehicle(), carla::nav::Navigation::AddWalker(), carla::geom::OffsetTransform::ApplyInverseTransformation(), carla::geom::OffsetTransform::ApplyTransformation(), carla::agents::navigation::ComputeDistance(), carla::road::Lane::ComputeTransform(), carla::geom::BoundingBox::Contains(), carla::geom::Math::Cross(), carla::traffic_manager::DeviationDotProduct(), carla::geom::Math::DistanceSquared(), carla::geom::Math::Dot(), carla::agents::navigation::DrawWaypoints(), carla::nav::Navigation::GetAgentRoute(), carla::road::Map::GetAllCrosswalkZones(), GetClosestTrafficSignActor(), carla::road::Map::GetClosestWaypointOnRoad(), carla::road::Lane::GetCornerPositions(), carla::road::Road::GetDirectedPointIn(), carla::geom::Transform::GetInverseMatrix(), carla::geom::BoundingBox::GetLocalVerticesNoRotation(), carla::geom::Transform::GetMatrix(), carla::nav::Navigation::GetPath(), carla::traffic_manager::GetPathSpeedLimit(), carla::nav::Navigation::GetRandomLocation(), carla::rss::RssCheck::GetRoutingTargets(), carla::agents::navigation::GetTrafficLightTriggerLocation(), carla::road::Map::GetTreesTransform(), carla::nav::Navigation::GetWalkerPosition(), carla::nav::Navigation::GetWalkerTransform(), carla::traffic_manager::InMemoryMap::GetWaypoint(), carla::traffic_manager::InMemoryMap::GetWaypointsInDelta(), carla::client::WalkerAIController::GoToLocation(), carla::nav::Navigation::HasVehicleNear(), carla::geom::Rotation::InverseRotateVector(), MakeUnitVector(), carla::geom::MeshFactory::MergeAndSmooth(), msgpack_object(), msgpack_pack(), msgpack_unpack(), carla::geom::Location::operator FVector(), carla::rpc::VehiclePhysicsControl::operator FVehiclePhysicsControl(), carla::rpc::WalkerControl::operator FWalkerControl(), carla::nav::WalkerEventVisitor::operator()(), operator*=(), operator+=(), operator-=(), operator-=(), operator/=(), carla::geom::operator<<(), operator==(), carla::ros2::ROS2::ProcessDataFromAutowareGNSS(), carla::ros2::ROS2::ProcessDataFromCollisionSensor(), carla::ros2::ROS2::ProcessDataFromIMU(), carla::ros2::ROS2::PublishTransform(), carla::client::Rotate(), carla::geom::Rotation::RotateVector(), carla::road::Map::SDFToMesh(), carla::traffic_manager::InMemoryMap::SetUpSpatialTree(), carla::nav::Navigation::SetWalkerDirectTargetIndex(), carla::nav::Navigation::SetWalkerLookAt(), carla::geom::Simplification::Simplificate(), SquaredLength(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), ToFVector(), carla::geom::Velocity::ToFVectorCmPerSecond(), carla::geom::Acceleration::ToFVectorCmPerSecondSquared(), carla::geom::AngularVelocity::ToFVectorDegPerSecond(), carla::geom::GeoProjection::TransformToGeoLocationLambertConformalConic(), carla::geom::GeoProjection::TransformToGeoLocationTransverseMercator(), carla::geom::GeoProjection::TransformToGeoLocationUniversalTransverseMercator(), carla::geom::GeoProjection::TransformToGeoLocationWebMercator(), carla::agents::navigation::UnitVector(), carla::traffic_manager::MotionPlanStage::Update(), carla::traffic_manager::CollisionStage::Update(), carla::nav::WalkerManager::Update(), carla::traffic_manager::ALSM::UpdateData(), carla::traffic_manager::ALSM::UpdateUnregisteredActorsData(), carla::client::detail::WalkerNavigation::UpdateVehiclesInCrowd(), carla::agents::navigation::BasicAgent::VehicleObstacleDetected(), carla::sensor::data::LidarDetection::WriteDetection(), and carla::sensor::data::SemanticLidarDetection::WriteDetection().

The documentation for this struct was generated from the following file:

geom/Vector3D.h

Public Member Functions

Public Attributes

Static Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Vector3D() [1/3]

◆ Vector3D() [2/3]

◆ Vector3D() [3/3]

Member Function Documentation

◆ Abs()

◆ Length()

◆ Length2D()

◆ MakeUnitVector()

◆ msgpack_object()

◆ msgpack_pack()

◆ msgpack_unpack()

◆ operator!=()

◆ operator*=()

◆ operator+=()

◆ operator-=() [1/2]

◆ operator-=() [2/2]

◆ operator/=()

◆ operator=()

◆ operator==()

◆ SquaredLength()

◆ SquaredLength2D()

◆ ToCentimeters()

◆ ToFVector()

◆ ToMeters()

Friends And Related Symbol Documentation

◆ operator* [1/2]

◆ operator* [2/2]

◆ operator+

◆ operator-

◆ operator/ [1/2]

◆ operator/ [2/2]

Member Data Documentation

◆ Dim

◆ x

◆ y

◆ z