Vectors

Vectors are a useful multidimensional data structure. Dairy supports DoubleVector2D and DistanceVector2D. We’ll look at DistanceVector2D, but DoubleVector2D is super similar, outside of a couple of Distance specific utility methods.

DistanceVector2D vec = new DistanceVector2D(Distances.mm(10), Distances.mm(10));
// OR
DistanceVector2Ds.millimeterVector(10.0, 10.0);

Distance x = vec.getX();
Distance y = vec.getY();

Distance mag = vec.getMagnitude();
// theta is always an `Angle`
Angle theta = vec.getTheta();

val vec = DistanceVector2D(10.mm, 10.mm)
// OR
millimeterVector(10.0, 10.0)

vec.x
vec.y

val (x: Distance, y: Distance) = vec

val mag: Distance = vec.magnitude
// theta is always an `Angle`
val theta: Angle = vec.theta

Thats the basics! In Kotlin, we also get that cool destructuring to x and y. Vectors also have all expected mathematical operations defined on them: plus, minus, unaryPlus, unaryMinus, times by other vector, times by scalar, div by other vector, div by scalar. Take a look back at Distances in the Unit section to review this. The only operation not defined here is mod or rem. Vectors also get these vector specific methods:

// normalise gives us a new vector with the specified length
vec.normalise(); // defaults to 1 mm / 1.0
vec.normalise(Distances.mm(20));

// the scalar dot product
vec.dot(new DistanceVector2D());

// rotate
vec.rotate(Angles.wrappedDeg(90));

// normalise gives us a new vector with the specified length
vec.normalise() // defaults to 1 mm / 1.0
vec.normalise(20.mm)

// the scalar dot product
vec.dot(DistanceVector2D())

// rotate
vec.rotate(90.wrappedDeg)

DistanceVector2Ds also have utilties for working with the DistanceUnits of the Distances it stores.

// converts x to FOOT, y to CENTIMETER
vec.into(DistanceUnits.FOOT, DistanceUnits.CENTIMETER);
// converts both x and y to FOOT
vec.into(DistanceUnits.FOOT);

vec.intoMillimeters();
vec.intoCentimeters();
vec.intoMeters();
vec.intoInches();
vec.intoFeet();

// converts x to FOOT, y to CENTIMETER
vec.into(DistanceUnits.FOOT, DistanceUnits.CENTIMETER)
// converts both x and y to FOOT
vec.into(DistanceUnits.FOOT)

vec.intoMillimeters()
vec.intoCentimeters()
vec.intoMeters()
vec.intoInches()
vec.intoFeet()

Util

Cells

Units

Vectors And Poses