Added math library.

apps/systemlib/math/generic/Vector.hpp

@@ -0,0 +1,240 @@
+/****************************************************************************
+ *
+ *   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 <systemlib/math/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;
+    }
+    // other functions
+    inline float dot(const Vector & right)
+    {
+        float result = 0;
+        for (size_t i=0; i<getRows(); i++)
+        {
+            result += (*this)(i)*(*this)(i);
+        }
+        return result;
+    }
+    inline float norm()
+    {
+        return sqrtf(dot(*this));
+    }
+    inline Vector unit()
+    {
+        return (*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