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mathlib: Vector class major cleanup

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This commit is contained in:
Anton Babushkin
2013-12-24 23:56:28 +04:00
parent a26e46bede
commit 9dfe366e90
7 changed files with 210 additions and 193 deletions
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src/lib/mathlib/math/Vector.hpp
+87 -110
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@@ -1,8 +1,9 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Will Perone <will.perone@gmail.com>
* Anton Babushkin <anton.babushkin@me.com>
* 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
@@ -36,13 +37,12 @@
/**
* @file Vector.hpp
*
* Generic Vector
* Vector class
*/
#ifndef VECTOR_HPP
#define VECTOR_HPP
#include <visibility.h>
#include <stdio.h>
#include <math.h>
#include "../CMSIS/Include/arm_math.h"
@@ -84,7 +84,7 @@ public:
/**
* setting ctor
*/
VectorBase(const float *d) {
VectorBase(const float d[N]) {
arm_col = {N, 1, &data[0]};
memcpy(data, d, sizeof(data));
}
@@ -92,31 +92,30 @@ public:
/**
* access to elements by index
*/
inline float &operator ()(unsigned int i) {
float &operator ()(const unsigned int i) {
return data[i];
}
/**
* access to elements by index
*/
inline const float &operator ()(unsigned int i) const {
float operator ()(const unsigned int i) const {
return data[i];
}
unsigned int getRows() {
/**
* get rows number
*/
unsigned int get_size() const {
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))
if (data[i] != v.data[i])
return false;
return true;
}
@@ -126,7 +125,7 @@ public:
*/
bool operator !=(const Vector<N> &v) {
for (unsigned int i = 0; i < N; i++)
if (data[i] != v(i))
if (data[i] != v.data[i])
return true;
return false;
}
@@ -155,7 +154,7 @@ public:
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);
res.data[i] = data[i] + v.data[i];
return res;
}
@@ -165,7 +164,7 @@ public:
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);
res.data[i] = data[i] - v.data[i];
return res;
}
@@ -173,16 +172,20 @@ public:
* uniform scaling
*/
const Vector<N> operator *(const float num) const {
Vector<N> temp(*this);
return temp *= num;
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> temp(*static_cast<const Vector<N>*>(this));
return temp /= num;
Vector<N> res;
for (unsigned int i = 0; i < N; i++)
res.data[i] = data[i] / num;
return res;
}
/**
@@ -190,7 +193,7 @@ public:
*/
const Vector<N> &operator +=(const Vector<N> &v) {
for (unsigned int i = 0; i < N; i++)
data[i] += v(i);
data[i] += v.data[i];
return *static_cast<const Vector<N>*>(this);
}
@@ -199,7 +202,7 @@ public:
*/
const Vector<N> &operator -=(const Vector<N> &v) {
for (unsigned int i = 0; i < N; i++)
data[i] -= v(i);
data[i] -= v.data[i];
return *static_cast<const Vector<N>*>(this);
}
@@ -227,7 +230,7 @@ public:
float operator *(const Vector<N> &v) const {
float res = 0.0f;
for (unsigned int i = 0; i < N; i++)
res += data[i] * v(i);
res += data[i] * v.data[i];
return res;
}
@@ -235,14 +238,20 @@ public:
* gets the length of this vector squared
*/
float length_squared() const {
return (*this * *this);
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 {
return sqrtf(*this * *static_cast<const Vector<N>*>(this));
float res = 0.0f;
for (unsigned int i = 0; i < N; i++)
res += data[i] * data[i];
return sqrtf(res);
}
/**
@@ -277,25 +286,17 @@ public:
template <unsigned int N>
class __EXPORT Vector : public VectorBase<N> {
public:
using VectorBase<N>::operator *;
//using VectorBase<N>::operator *;
Vector() : VectorBase<N>() {}
Vector() : VectorBase<N>() {
}
Vector(const Vector &v) : VectorBase<N>(v) {}
Vector(const float d[]) : VectorBase<N>(d) {
}
Vector(const Vector<N> &v) : VectorBase<N>(v) {
}
Vector(const VectorBase<N> &v) : VectorBase<N>(v) {
}
Vector(const float d[N]) : VectorBase<N>(d) {}
/**
* 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;
}
@@ -304,24 +305,24 @@ public:
template <>
class __EXPORT Vector<2> : public VectorBase<2> {
public:
Vector() : VectorBase<2>() {
Vector() : VectorBase<2>() {}
/* simple copy is 1.6 times faster than memcpy */
Vector(const Vector &v) : VectorBase<2>() {
data[0] = v.data[0];
data[1] = v.data[1];
}
Vector(const float x, const float y) : VectorBase() {
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;
}
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
*/
@@ -331,55 +332,49 @@ public:
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);
return data[0] * v.data[1] - data[1] * v.data[0];
}
};
template <>
class __EXPORT Vector<3> : public VectorBase<3> {
public:
Vector() {
arm_col = {3, 1, &this->data[0]};
Vector() : VectorBase<3>() {}
/* simple copy is 1.6 times faster than memcpy */
Vector(const Vector &v) : VectorBase<3>() {
for (unsigned int i = 0; i < 3; i++)
data[i] = v.data[i];
}
Vector(const float x, const float y, const float z) {
arm_col = {3, 1, &this->data[0]};
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;
}
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];
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 <>
@@ -387,49 +382,31 @@ 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 &v) : VectorBase<4>() {
for (unsigned int i = 0; i < 4; i++)
data[i] = v.data[i];
}
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 float d[4]) : VectorBase<4>() {
for (unsigned int i = 0; i < 4; i++)
data[i] = d[i];
}
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];
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;
}
/**
* 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];
const Vector<4> &operator =(const Vector<4> &v) {
for (unsigned int i = 0; i < 4; i++)
data[i] = v.data[i];
return *this;
}
*/
};
}