/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <anton.babushkin@me.com>
* Pavel Kirienko <pavel.kirienko@gmail.com>
* Lorenz Meier <lm@inf.ethz.ch>
*
* 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
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file Vector.hpp
*
* Vector class
*/
#ifndef VECTOR_HPP
#define VECTOR_HPP
#include <stdio.h>
#include <math.h>
#ifdef CONFIG_ARCH_ARM
#include "../CMSIS/Include/arm_math.h"
#else
#include <platforms/ros/eigen_math.h>
#endif
#include <platforms/px4_defines.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
*/
#ifdef CONFIG_ARCH_ARM
arm_matrix_instance_f32 arm_col;
#else
eigen_matrix_instance arm_col;
#endif
/**
* trivial ctor
* initializes elements to zero
*/
VectorBase() :
data{},
arm_col{N, 1, &data[0]}
{
}
virtual ~VectorBase() {};
/**
* 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[N]) :
arm_col{N, 1, &data[0]}
{
memcpy(data, d, sizeof(data));
}
/**
* set data
*/
void set(const float d[N]) {
memcpy(data, d, sizeof(data));
}
/**
* access to elements by index
*/
float &operator()(const unsigned int i) {
return data[i];
}
/**
* access to elements by index
*/
float operator()(const unsigned int i) const {
return data[i];
}
/**
* get vector size
*/
unsigned int get_size() const {
return N;
}
/**
* test for equality
*/
bool operator ==(const Vector<N> &v) const {
for (unsigned int i = 0; i < N; i++)
if (data[i] != v.data[i])
return false;
return true;
}
/**
* test for inequality
*/
bool operator !=(const Vector<N> &v) const {
for (unsigned int i = 0; i < N; i++)
if (data[i] != v.data[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.data[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.data[i];
return res;
}
/**
* uniform scaling
*/
const Vector<N> operator *(const float num) const {
Vector<N> res;
for (unsigned int i = 0; i < N; i++)
res.data[i] = data[i] * num;
return res;
}
/**
* uniform scaling
*/
const Vector<N> operator /(const float num) const {
Vector<N> res;
for (unsigned int i = 0; i < N; i++)
res.data[i] = data[i] / num;
return res;
}
/**
* addition
*/
const Vector<N> &operator +=(const Vector<N> &v) {
for (unsigned int i = 0; i < N; i++)
data[i] += v.data[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.data[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.data[i];
return res;
}
/**
* element by element multiplication
*/
const Vector<N> emult(const Vector<N> &v) const {
Vector<N> res;
for (unsigned int i = 0; i < N; i++)
res.data[i] = data[i] * v.data[i];
return res;
}
/**
* element by element division
*/
const Vector<N> edivide(const Vector<N> &v) const {
Vector<N> res;
for (unsigned int i = 0; i < N; i++)
res.data[i] = data[i] / v.data[i];
return res;
}
/**
* gets the length of this vector squared
*/
float length_squared() const {
float res = 0.0f;
for (unsigned int i = 0; i < N; i++)
res += data[i] * data[i];
return res;
}
/**
* gets the length of this vector
*/
float length() const {
float res = 0.0f;
for (unsigned int i = 0; i < N; i++)
res += data[i] * data[i];
return sqrtf(res);
}
/**
* 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:
Vector() : VectorBase<N>() {}
Vector(const Vector<N> &v) : VectorBase<N>(v) {}
Vector(const float d[N]) : VectorBase<N>(d) {}
/**
* set to value
*/
const Vector<N> &operator =(const Vector<N> &v) {
memcpy(this->data, v.data, sizeof(this->data));
return *this;
}
};
template <>
class __EXPORT Vector<2> : public VectorBase<2>
{
public:
Vector() : VectorBase<2>() {}
// simple copy is 1.6 times faster than memcpy
Vector(const Vector<2> &v) : VectorBase<2>() {
data[0] = v.data[0];
data[1] = v.data[1];
}
Vector(const float d[2]) : VectorBase<2>() {
data[0] = d[0];
data[1] = d[1];
}
Vector(const float x, const float y) : VectorBase<2>() {
data[0] = x;
data[1] = y;
}
/**
* set data
*/
void set(const float d[2]) {
data[0] = d[0];
data[1] = d[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 operator %(const Vector<2> &v) const {
return data[0] * v.data[1] - data[1] * v.data[0];
}
};
template <>
class __EXPORT Vector<3> : public VectorBase<3>
{
public:
Vector() : VectorBase<3>() {}
// simple copy is 1.6 times faster than memcpy
Vector(const Vector<3> &v) : VectorBase<3>() {
for (unsigned int i = 0; i < 3; i++)
data[i] = v.data[i];
}
Vector(const float d[3]) : VectorBase<3>() {
for (unsigned int i = 0; i < 3; i++)
data[i] = d[i];
}
Vector(const float x, const float y, const float z) : VectorBase<3>() {
data[0] = x;
data[1] = y;
data[2] = z;
}
/**
* set data
*/
void set(const float d[3]) {
for (unsigned int i = 0; i < 3; i++)
data[i] = d[i];
}
/**
* set to value
*/
const Vector<3> &operator =(const Vector<3> &v) {
for (unsigned int i = 0; i < 3; i++)
data[i] = v.data[i];
return *this;
}
Vector<3> operator %(const Vector<3> &v) const {
return Vector<3>(
data[1] * v.data[2] - data[2] * v.data[1],
data[2] * v.data[0] - data[0] * v.data[2],
data[0] * v.data[1] - data[1] * v.data[0]
);
}
};
template <>
class __EXPORT Vector<4> : public VectorBase<4>
{
public:
Vector() : VectorBase() {}
Vector(const Vector<4> &v) : VectorBase<4>() {
for (unsigned int i = 0; i < 4; i++)
data[i] = v.data[i];
}
Vector(const float d[4]) : VectorBase<4>() {
for (unsigned int i = 0; i < 4; i++)
data[i] = d[i];
}
Vector(const float x0, const float x1, const float x2, const float x3) : VectorBase() {
data[0] = x0;
data[1] = x1;
data[2] = x2;
data[3] = x3;
}
/**
* set data
*/
void set(const float d[4]) {
for (unsigned int i = 0; i < 4; i++)
data[i] = d[i];
}
/**
* set to value
*/
const Vector<4> &operator =(const Vector<4> &v) {
for (unsigned int i = 0; i < 4; i++)
data[i] = v.data[i];
return *this;
}
};
}
#endif // VECTOR_HPP