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/**
* @file Vector.h
*
* math vector
*/
#pragma once
#include <inttypes.h>
#include <assert.h>
#include <stdlib.h>
#include <string.h>
#include <stdio.h>
#include <math.h>
#include <systemlib/math/Vector.hpp>
namespace math
{
class __EXPORT Vector {
public:
// constructor
Vector(size_t rows) :
_rows(rows),
_data((float*)calloc(rows,sizeof(float)))
{
}
Vector(size_t rows, const float * data) :
_rows(rows),
_data((float*)malloc(getSize()))
{
memcpy(getData(),data,getSize());
}
// deconstructor
virtual ~Vector()
{
delete [] getData();
}
// copy constructor (deep)
Vector(const Vector & right) :
_rows(right.getRows()),
_data((float*)malloc(getSize()))
{
memcpy(getData(),right.getData(),
right.getSize());
}
// assignment
inline Vector & operator=(const Vector & right)
{
#ifdef VECTOR_ASSERT
ASSERT(getRows()==right.getRows());
#endif
if (this != &right)
{
memcpy(getData(),right.getData(),
right.getSize());
}
return *this;
}
// element accessors
inline float& operator()(size_t i)
{
#ifdef VECTOR_ASSERT
ASSERT(i<getRows());
#endif
return getData()[i];
}
inline const float& operator()(size_t i) const
{
#ifdef VECTOR_ASSERT
ASSERT(i<getRows());
#endif
return getData()[i];
}
// output
inline void print() const
{
for (size_t i=0; i<getRows(); i++)
{
float sig;
int exp;
float num = (*this)(i);
float2SigExp(num,sig,exp);
printf ("%6.3fe%03.3d,", (double)sig, exp);
}
printf("\n");
}
// boolean ops
inline bool operator==(const Vector & right) const
{
for (size_t i=0; i<getRows(); i++)
{
if (fabsf(((*this)(i) - right(i))) > 1e-30f)
return false;
}
return true;
}
// scalar ops
inline Vector operator+(const float & right) const
{
Vector result(getRows());
for (size_t i=0; i<getRows(); i++)
{
result(i) = (*this)(i) + right;
}
return result;
}
inline Vector operator-(const float & right) const
{
Vector result(getRows());
for (size_t i=0; i<getRows(); i++)
{
result(i) = (*this)(i) - right;
}
return result;
}
inline Vector operator*(const float & right) const
{
Vector result(getRows());
for (size_t i=0; i<getRows(); i++)
{
result(i) = (*this)(i) * right;
}
return result;
}
inline Vector operator/(const float & right) const
{
Vector result(getRows());
for (size_t i=0; i<getRows(); i++)
{
result(i) = (*this)(i) / right;
}
return result;
}
// vector ops
inline Vector operator+(const Vector & right) const
{
#ifdef VECTOR_ASSERT
ASSERT(getRows()==right.getRows());
#endif
Vector result(getRows());
for (size_t i=0; i<getRows(); i++)
{
result(i) = (*this)(i) + right(i);
}
return result;
}
inline Vector operator-(const Vector & right) const
{
#ifdef VECTOR_ASSERT
ASSERT(getRows()==right.getRows());
#endif
Vector result(getRows());
for (size_t i=0; i<getRows(); i++)
{
result(i) = (*this)(i) - right(i);
}
return result;
}
// other functions
inline float dot(const Vector & right)
{
float result = 0;
for (size_t i=0; i<getRows(); i++)
{
result += (*this)(i)*(*this)(i);
}
return result;
}
inline float norm()
{
return sqrtf(dot(*this));
}
inline Vector unit()
{
return (*this)/norm();
}
inline static Vector zero(size_t rows)
{
Vector result(rows);
// calloc returns zeroed memory
return result;
}
inline void setAll(const float & val)
{
for (size_t i=0;i<getRows();i++)
{
(*this)(i) = val;
}
}
inline void set(const float * data)
{
memcpy(getData(),data,getSize());
}
inline size_t getRows() const { return _rows; }
protected:
inline size_t getSize() const { return sizeof(float)*getRows(); }
inline float * getData() { return _data; }
inline const float * getData() const { return _data; }
inline void setData(float * data) { _data = data; }
private:
size_t _rows;
float * _data;
};
} // math
