Package edu.wpi.first.math

Class Vector<R extends Num>

java.lang.Object
edu.wpi.first.math.Matrix<R,​N1>
edu.wpi.first.math.Vector<R>
Type Parameters:
R - The number of rows in this matrix.
public class Vector<R extends Num>
extends Matrix<R,​N1>
A shape-safe wrapper over Efficient Java Matrix Library (EJML) matrices.

This class is intended to be used alongside the state space library.

  • Constructor Details

    • Vector

      public Vector​(Nat<R> rows)
      Constructs an empty zero vector of the given dimensions.
      Parameters:
      rows - The number of rows of the vector.

    • Vector

      public Vector​(org.ejml.simple.SimpleMatrix storage)
      Constructs a new Vector with the given storage. Caller should make sure that the provided generic bounds match the shape of the provided Vector.

      NOTE:It is not recommended to use this constructor unless the SimpleMatrix API is absolutely necessary due to the desired function not being accessible through the Vector wrapper.

      Parameters:
      storage - The SimpleMatrix to back this vector.

    • Vector

      public Vector​(Matrix<R,​N1> other)
      Constructs a new vector with the storage of the supplied matrix.
      Parameters:
      other - The Vector to copy the storage of.

  • Method Details

    • get

      public double get​(int row)
      Returns an element of the vector at a specified row.
      Parameters:
      row - The row that the element is located at.
      Returns:
      An element of the vector.

    • times

      public Vector<R> times​(double value)
      Description copied from class: Matrix
      Multiplies all the elements of this matrix by the given scalar.
      Overrides:
      times in class Matrix<R extends Num,​N1>
      Parameters:
      value - The scalar value to multiply by.
      Returns:
      A new matrix with all the elements multiplied by the given value.

    • div

      public Vector<R> div​(int value)
      Description copied from class: Matrix
      Divides all elements of this matrix by the given value.
      Overrides:
      div in class Matrix<R extends Num,​N1>
      Parameters:
      value - The value to divide by.
      Returns:
      The resultant matrix.

    • div

      public Vector<R> div​(double value)
      Description copied from class: Matrix
      Divides all elements of this matrix by the given value.
      Overrides:
      div in class Matrix<R extends Num,​N1>
      Parameters:
      value - The value to divide by.
      Returns:
      The resultant matrix.

    • plus

      public final Vector<R> plus​(Vector<R> value)
      Adds the given vector to this vector.
      Parameters:
      value - The vector to add.
      Returns:
      The resultant vector.

    • minus

      public final Vector<R> minus​(Vector<R> value)
      Subtracts the given vector to this vector.
      Parameters:
      value - The vector to add.
      Returns:
      The resultant vector.

    • dot

      public double dot​(Vector<R> other)
      Returns the dot product of this vector with another.
      Parameters:
      other - The other vector.
      Returns:
      The dot product.

    • norm

      public double norm()
      Returns the norm of this vector.
      Returns:
      The norm.

    • unit

      public Vector<R> unit()
      Returns the unit vector parallel with this vector.
      Returns:
      The unit vector.

    • projection

      public Vector<R> projection​(Vector<R> other)
      Returns the projection of this vector along another.
      Parameters:
      other - The vector to project along.
      Returns:
      The projection.

    • cross

      public static Vector<N3> cross​(Vector<N3> a, Vector<N3> b)
      Returns the cross product of 3 dimensional vectors a and b.
      Parameters:
      a - The vector to cross with b.
      b - The vector to cross with a.
      Returns:
      The cross product of a and b.