/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Will Perone <will.perone@gmail.com>
* Anton Babushkin <anton.babushkin@me.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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*
****************************************************************************/
/**
* @file Vector.hpp
*
* Generic Vector
*/
#ifndef VECTOR_HPP
#define VECTOR_HPP
#include <visibility.h>
#include <stdio.h>
#include <math.h>
#include "../CMSIS/Include/arm_math.h"
namespace math
{
template <unsigned int N>
class __EXPORT Vector;
template <unsigned int N>
class __EXPORT VectorBase {
public:
/**
* vector data
*/
float data[N];
/**
* struct for using arm_math functions, represents column vector
*/
arm_matrix_instance_f32 arm_col;
/**
* trivial ctor
*/
VectorBase() {
arm_col = {N, 1, &data[0]};
}
/**
* copy ctor
*/
VectorBase(const VectorBase<N> &v) {
arm_col = {N, 1, &data[0]};
memcpy(data, v.data, sizeof(data));
}
/**
* setting ctor
*/
VectorBase(const float *d) {
arm_col = {N, 1, &data[0]};
memcpy(data, d, sizeof(data));
}
/**
* access to elements by index
*/
inline float &operator ()(unsigned int i) {
return data[i];
}
/**
* access to elements by index
*/
inline const float &operator ()(unsigned int i) const {
return data[i];
}
unsigned int getRows() {
return N;
}
unsigned int getCols() {
return 1;
}
/**
* test for equality
*/
bool operator ==(const Vector<N> &v) {
for (unsigned int i = 0; i < N; i++)
if (data[i] != v(i))
return false;
return true;
}
/**
* test for inequality
*/
bool operator !=(const Vector<N> &v) {
for (unsigned int i = 0; i < N; i++)
if (data[i] != v(i))
return true;
return false;
}
/**
* set to value
*/
const Vector<N> &operator =(const Vector<N> &v) {
memcpy(data, v.data, sizeof(data));
return *static_cast<const Vector<N>*>(this);
}
/**
* negation
*/
const Vector<N> operator -(void) const {
Vector<N> res;
for (unsigned int i = 0; i < N; i++)
res.data[i] = -data[i];
return res;
}
/**
* addition
*/
const Vector<N> operator +(const Vector<N> &v) const {
Vector<N> res;
for (unsigned int i = 0; i < N; i++)
res.data[i] = data[i] + v(i);
return res;
}
/**
* subtraction
*/
const Vector<N> operator -(const Vector<N> &v) const {
Vector<N> res;
for (unsigned int i = 0; i < N; i++)
res.data[i] = data[i] - v(i);
return res;
}
/**
* uniform scaling
*/
const Vector<N> operator *(const float num) const {
Vector<N> temp(*this);
return temp *= num;
}
/**
* uniform scaling
*/
const Vector<N> operator /(const float num) const {
Vector<N> temp(*static_cast<const Vector<N>*>(this));
return temp /= num;
}
/**
* addition
*/
const Vector<N> &operator +=(const Vector<N> &v) {
for (unsigned int i = 0; i < N; i++)
data[i] += v(i);
return *static_cast<const Vector<N>*>(this);
}
/**
* subtraction
*/
const Vector<N> &operator -=(const Vector<N> &v) {
for (unsigned int i = 0; i < N; i++)
data[i] -= v(i);
return *static_cast<const Vector<N>*>(this);
}
/**
* uniform scaling
*/
const Vector<N> &operator *=(const float num) {
for (unsigned int i = 0; i < N; i++)
data[i] *= num;
return *static_cast<const Vector<N>*>(this);
}
/**
* uniform scaling
*/
const Vector<N> &operator /=(const float num) {
for (unsigned int i = 0; i < N; i++)
data[i] /= num;
return *static_cast<const Vector<N>*>(this);
}
/**
* dot product
*/
float operator *(const Vector<N> &v) const {
float res = 0.0f;
for (unsigned int i = 0; i < N; i++)
res += data[i] * v(i);
return res;
}
/**
* gets the length of this vector squared
*/
float length_squared() const {
return (*this * *this);
}
/**
* gets the length of this vector
*/
float length() const {
return sqrtf(*this * *static_cast<const Vector<N>*>(this));
}
/**
* normalizes this vector
*/
void normalize() {
*this /= length();
}
/**
* returns the normalized version of this vector
*/
Vector<N> normalized() const {
return *this / length();
}
/**
* set zero vector
*/
void zero(void) {
memset(data, 0, sizeof(data));
}
void print(void) {
printf("[ ");
for (unsigned int i = 0; i < N; i++)
printf("%.3f\t", data[i]);
printf("]\n");
}
};
template <unsigned int N>
class __EXPORT Vector : public VectorBase<N> {
public:
using VectorBase<N>::operator *;
Vector() : VectorBase<N>() {
}
Vector(const float d[]) : VectorBase<N>(d) {
}
Vector(const Vector<N> &v) : VectorBase<N>(v) {
}
Vector(const VectorBase<N> &v) : VectorBase<N>(v) {
}
/**
* set to value
*/
const Vector<N> &operator =(const Vector<N> &v) {
this->arm_col = {N, 1, &this->data[0]};
memcpy(this->data, v.data, sizeof(this->data));
return *this;
}
};
template <>
class __EXPORT Vector<2> : public VectorBase<2> {
public:
Vector() : VectorBase<2>() {
}
Vector(const float x, const float y) : VectorBase() {
data[0] = x;
data[1] = y;
}
Vector(const Vector<2> &v) : VectorBase() {
data[0] = v.data[0];
data[1] = v.data[1];
}
Vector(const VectorBase<2> &v) : VectorBase() {
data[0] = v.data[0];
data[1] = v.data[1];
}
/**
* set to value
*/
const Vector<2> &operator =(const Vector<2> &v) {
data[0] = v.data[0];
data[1] = v.data[1];
return *this;
}
float cross(const Vector<2> &b) const {
return data[0]*b.data[1] - data[1]*b.data[0];
}
float operator %(const Vector<2> &v) const {
return cross(v);
}
};
template <>
class __EXPORT Vector<3> : public VectorBase<3> {
public:
Vector() {
arm_col = {3, 1, &this->data[0]};
}
Vector(const float x, const float y, const float z) {
arm_col = {3, 1, &this->data[0]};
data[0] = x;
data[1] = y;
data[2] = z;
}
Vector(const Vector<3> &v) : VectorBase<3>() {
data[0] = v.data[0];
data[1] = v.data[1];
data[2] = v.data[2];
}
/**
* setting ctor
*/
Vector(const float d[]) {
arm_col = {3, 1, &this->data[0]};
data[0] = d[0];
data[1] = d[1];
data[2] = d[2];
}
/**
* set to value
*/
const Vector<3> &operator =(const Vector<3> &v) {
data[0] = v.data[0];
data[1] = v.data[1];
data[2] = v.data[2];
return *this;
}
};
template <>
class __EXPORT Vector<4> : public VectorBase<4> {
public:
Vector() : VectorBase() {}
Vector(const float x, const float y, const float z, const float t) : VectorBase() {
data[0] = x;
data[1] = y;
data[2] = z;
data[3] = t;
}
Vector(const Vector<4> &v) : VectorBase() {
data[0] = v.data[0];
data[1] = v.data[1];
data[2] = v.data[2];
data[3] = v.data[3];
}
Vector(const VectorBase<4> &v) : VectorBase() {
data[0] = v.data[0];
data[1] = v.data[1];
data[2] = v.data[2];
data[3] = v.data[3];
}
/**
* setting ctor
*/
/*
Vector(const float d[]) {
arm_col = {3, 1, &this->data[0]};
data[0] = d[0];
data[1] = d[1];
data[2] = d[2];
}
*/
/**
* set to value
*/
/*
const Vector<3> &operator =(const Vector<3> &v) {
data[0] = v.data[0];
data[1] = v.data[1];
data[2] = v.data[2];
return *this;
}
*/
};
}
#endif // VECTOR_HPP
