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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-04 05:40:37 +08:00
mathlib: code style fixed
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@@ -54,7 +54,8 @@ template <unsigned int N>
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class __EXPORT Vector;
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template <unsigned int N>
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class __EXPORT VectorBase {
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class __EXPORT VectorBase
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{
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public:
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/**
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* vector data
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@@ -93,14 +94,14 @@ public:
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/**
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* access to elements by index
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*/
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float &operator ()(const unsigned int i) {
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float &operator()(const unsigned int i) {
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return data[i];
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}
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/**
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* access to elements by index
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*/
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float operator ()(const unsigned int i) const {
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float operator()(const unsigned int i) const {
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return data[i];
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}
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@@ -115,20 +116,22 @@ public:
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* test for equality
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*/
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bool operator ==(const Vector<N> &v) const {
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for (unsigned int i = 0; i < N; i++)
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if (data[i] != v.data[i])
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return false;
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return true;
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for (unsigned int i = 0; i < N; i++)
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if (data[i] != v.data[i])
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return false;
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return true;
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}
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/**
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* test for inequality
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*/
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bool operator !=(const Vector<N> &v) const {
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for (unsigned int i = 0; i < N; i++)
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if (data[i] != v.data[i])
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return true;
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return false;
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for (unsigned int i = 0; i < N; i++)
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if (data[i] != v.data[i])
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return true;
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return false;
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}
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/**
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@@ -144,9 +147,11 @@ public:
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*/
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const Vector<N> operator -(void) const {
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Vector<N> res;
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for (unsigned int i = 0; i < N; i++)
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res.data[i] = -data[i];
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return res;
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for (unsigned int i = 0; i < N; i++)
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res.data[i] = -data[i];
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return res;
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}
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/**
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@@ -154,9 +159,11 @@ public:
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*/
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const Vector<N> operator +(const Vector<N> &v) const {
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Vector<N> res;
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for (unsigned int i = 0; i < N; i++)
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res.data[i] = data[i] + v.data[i];
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return res;
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for (unsigned int i = 0; i < N; i++)
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res.data[i] = data[i] + v.data[i];
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return res;
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}
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/**
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@@ -164,9 +171,11 @@ public:
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*/
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const Vector<N> operator -(const Vector<N> &v) const {
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Vector<N> res;
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for (unsigned int i = 0; i < N; i++)
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res.data[i] = data[i] - v.data[i];
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return res;
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for (unsigned int i = 0; i < N; i++)
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res.data[i] = data[i] - v.data[i];
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return res;
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}
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/**
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@@ -174,8 +183,10 @@ public:
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*/
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const Vector<N> operator *(const float num) const {
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Vector<N> res;
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for (unsigned int i = 0; i < N; i++)
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res.data[i] = data[i] * num;
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for (unsigned int i = 0; i < N; i++)
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res.data[i] = data[i] * num;
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return res;
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}
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@@ -184,8 +195,10 @@ public:
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*/
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const Vector<N> operator /(const float num) const {
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Vector<N> res;
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for (unsigned int i = 0; i < N; i++)
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res.data[i] = data[i] / num;
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for (unsigned int i = 0; i < N; i++)
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res.data[i] = data[i] / num;
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return res;
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}
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@@ -193,8 +206,9 @@ public:
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* addition
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*/
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const Vector<N> &operator +=(const Vector<N> &v) {
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for (unsigned int i = 0; i < N; i++)
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data[i] += v.data[i];
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for (unsigned int i = 0; i < N; i++)
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data[i] += v.data[i];
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return *static_cast<const Vector<N>*>(this);
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}
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@@ -202,8 +216,9 @@ public:
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* subtraction
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*/
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const Vector<N> &operator -=(const Vector<N> &v) {
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for (unsigned int i = 0; i < N; i++)
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data[i] -= v.data[i];
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for (unsigned int i = 0; i < N; i++)
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data[i] -= v.data[i];
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return *static_cast<const Vector<N>*>(this);
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}
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@@ -211,8 +226,9 @@ public:
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* uniform scaling
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*/
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const Vector<N> &operator *=(const float num) {
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for (unsigned int i = 0; i < N; i++)
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data[i] *= num;
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for (unsigned int i = 0; i < N; i++)
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data[i] *= num;
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return *static_cast<const Vector<N>*>(this);
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}
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@@ -220,8 +236,9 @@ public:
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* uniform scaling
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*/
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const Vector<N> &operator /=(const float num) {
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for (unsigned int i = 0; i < N; i++)
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data[i] /= num;
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for (unsigned int i = 0; i < N; i++)
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data[i] /= num;
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return *static_cast<const Vector<N>*>(this);
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}
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@@ -230,9 +247,11 @@ public:
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*/
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float operator *(const Vector<N> &v) const {
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float res = 0.0f;
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for (unsigned int i = 0; i < N; i++)
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res += data[i] * v.data[i];
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return res;
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for (unsigned int i = 0; i < N; i++)
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res += data[i] * v.data[i];
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return res;
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}
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/**
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@@ -240,9 +259,11 @@ public:
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*/
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float length_squared() const {
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float res = 0.0f;
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for (unsigned int i = 0; i < N; i++)
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res += data[i] * data[i];
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return res;
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for (unsigned int i = 0; i < N; i++)
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res += data[i] * data[i];
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return res;
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}
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/**
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@@ -250,9 +271,11 @@ public:
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*/
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float length() const {
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float res = 0.0f;
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for (unsigned int i = 0; i < N; i++)
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res += data[i] * data[i];
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return sqrtf(res);
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for (unsigned int i = 0; i < N; i++)
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res += data[i] * data[i];
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return sqrtf(res);
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}
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/**
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@@ -278,14 +301,17 @@ public:
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void print(void) {
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printf("[ ");
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for (unsigned int i = 0; i < N; i++)
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for (unsigned int i = 0; i < N; i++)
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printf("%.3f\t", data[i]);
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printf("]\n");
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}
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};
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template <unsigned int N>
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class __EXPORT Vector : public VectorBase<N> {
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class __EXPORT Vector : public VectorBase<N>
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{
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public:
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Vector() : VectorBase<N>() {}
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@@ -303,7 +329,8 @@ public:
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};
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template <>
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class __EXPORT Vector<2> : public VectorBase<2> {
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class __EXPORT Vector<2> : public VectorBase<2>
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{
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public:
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Vector() : VectorBase<2>() {}
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@@ -333,12 +360,13 @@ public:
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}
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float operator %(const Vector<2> &v) const {
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return data[0] * v.data[1] - data[1] * v.data[0];
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return data[0] * v.data[1] - data[1] * v.data[0];
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}
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};
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template <>
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class __EXPORT Vector<3> : public VectorBase<3> {
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class __EXPORT Vector<3> : public VectorBase<3>
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{
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public:
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Vector() : VectorBase<3>() {}
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@@ -365,20 +393,22 @@ public:
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const Vector<3> &operator =(const Vector<3> &v) {
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for (unsigned int i = 0; i < 3; i++)
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data[i] = v.data[i];
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return *this;
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}
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Vector<3> operator %(const Vector<3> &v) const {
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return Vector<3>(
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data[1] * v.data[2] - data[2] * v.data[1],
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data[2] * v.data[0] - data[0] * v.data[2],
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data[0] * v.data[1] - data[1] * v.data[0]
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);
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data[1] * v.data[2] - data[2] * v.data[1],
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data[2] * v.data[0] - data[0] * v.data[2],
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data[0] * v.data[1] - data[1] * v.data[0]
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);
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}
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};
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template <>
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class __EXPORT Vector<4> : public VectorBase<4> {
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class __EXPORT Vector<4> : public VectorBase<4>
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{
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public:
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Vector() : VectorBase() {}
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@@ -405,6 +435,7 @@ public:
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const Vector<4> &operator =(const Vector<4> &v) {
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for (unsigned int i = 0; i < 4; i++)
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data[i] = v.data[i];
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return *this;
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}
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};
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