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Diffstat (limited to 'src/lib/mathlib/math/generic/Vector.hpp')
-rw-r--r-- | src/lib/mathlib/math/generic/Vector.hpp | 245 |
1 files changed, 0 insertions, 245 deletions
diff --git a/src/lib/mathlib/math/generic/Vector.hpp b/src/lib/mathlib/math/generic/Vector.hpp deleted file mode 100644 index 8cfdc676d..000000000 --- a/src/lib/mathlib/math/generic/Vector.hpp +++ /dev/null @@ -1,245 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * 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.h - * - * math vector - */ - -#pragma once - -#include <inttypes.h> -#include <assert.h> -#include <stdlib.h> -#include <string.h> -#include <stdio.h> -#include <math.h> - -#include "../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; - } - inline Vector operator-(void) const { - Vector result(getRows()); - - for (size_t i = 0; i < getRows(); i++) { - result(i) = -((*this)(i)); - } - - return result; - } - // other functions - inline float dot(const Vector &right) const { - float result = 0; - - for (size_t i = 0; i < getRows(); i++) { - result += (*this)(i) * (*this)(i); - } - - return result; - } - inline float norm() const { - return sqrtf(dot(*this)); - } - inline float length() const { - return norm(); - } - inline Vector unit() const { - return (*this) / norm(); - } - inline Vector normalized() const { - return unit(); - } - inline void normalize() { - (*this) = (*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 |