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Diffstat (limited to 'include/math/vector.h')
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diff --git a/include/math/vector.h b/include/math/vector.h new file mode 100644 index 0000000..10345c3 --- /dev/null +++ b/include/math/vector.h @@ -0,0 +1,184 @@ +// Inertial Measurement Unit Maths Library +// +// Copyright 2013-2021 Sam Cowen <[email protected]> +// Bug fixes and cleanups by Gé Vissers ([email protected]) +// +// Permission is hereby granted, free of charge, to any person obtaining a +// copy of this software and associated documentation files (the "Software"), +// to deal in the Software without restriction, including without limitation +// the rights to use, copy, modify, merge, publish, distribute, sublicense, +// and/or sell copies of the Software, and to permit persons to whom the +// Software is furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS +// OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER +// DEALINGS IN THE SOFTWARE. + +#ifndef IMUMATH_VECTOR_HPP +#define IMUMATH_VECTOR_HPP + +#include <math.h> +#include <stdint.h> +#include <string.h> + +namespace imu { + +template <uint8_t N> class Vector { +public: + Vector() { memset(p_vec, 0, sizeof(double) * N); } + + Vector(double a) { + memset(p_vec, 0, sizeof(double) * N); + p_vec[0] = a; + } + + Vector(double a, double b) { + memset(p_vec, 0, sizeof(double) * N); + p_vec[0] = a; + p_vec[1] = b; + } + + Vector(double a, double b, double c) { + memset(p_vec, 0, sizeof(double) * N); + p_vec[0] = a; + p_vec[1] = b; + p_vec[2] = c; + } + + Vector(double a, double b, double c, double d) { + memset(p_vec, 0, sizeof(double) * N); + p_vec[0] = a; + p_vec[1] = b; + p_vec[2] = c; + p_vec[3] = d; + } + + Vector(const Vector<N> &v) { + for (int x = 0; x < N; x++) + p_vec[x] = v.p_vec[x]; + } + + ~Vector() {} + + uint8_t n() { return N; } + + double magnitude() const { + double res = 0; + for (int i = 0; i < N; i++) + res += p_vec[i] * p_vec[i]; + + return sqrt(res); + } + + void normalize() { + double mag = magnitude(); + if (isnan(mag) || mag == 0.0) + return; + + for (int i = 0; i < N; i++) + p_vec[i] /= mag; + } + + double dot(const Vector &v) const { + double ret = 0; + for (int i = 0; i < N; i++) + ret += p_vec[i] * v.p_vec[i]; + + return ret; + } + + // The cross product is only valid for vectors with 3 dimensions, + // with the exception of higher dimensional stuff that is beyond + // the intended scope of this library. + // Only a definition for N==3 is given below this class, using + // cross() with another value for N will result in a link error. + Vector cross(const Vector &v) const; + + Vector scale(double scalar) const { + Vector ret; + for (int i = 0; i < N; i++) + ret.p_vec[i] = p_vec[i] * scalar; + return ret; + } + + Vector invert() const { + Vector ret; + for (int i = 0; i < N; i++) + ret.p_vec[i] = -p_vec[i]; + return ret; + } + + Vector &operator=(const Vector &v) { + for (int x = 0; x < N; x++) + p_vec[x] = v.p_vec[x]; + return *this; + } + + double &operator[](int n) { return p_vec[n]; } + + double operator[](int n) const { return p_vec[n]; } + + double &operator()(int n) { return p_vec[n]; } + + double operator()(int n) const { return p_vec[n]; } + + Vector operator+(const Vector &v) const { + Vector ret; + for (int i = 0; i < N; i++) + ret.p_vec[i] = p_vec[i] + v.p_vec[i]; + return ret; + } + + Vector operator-(const Vector &v) const { + Vector ret; + for (int i = 0; i < N; i++) + ret.p_vec[i] = p_vec[i] - v.p_vec[i]; + return ret; + } + + Vector operator*(double scalar) const { return scale(scalar); } + + Vector operator/(double scalar) const { + Vector ret; + for (int i = 0; i < N; i++) + ret.p_vec[i] = p_vec[i] / scalar; + return ret; + } + + void toDegrees() { + for (int i = 0; i < N; i++) + p_vec[i] *= 57.2957795131; // 180/pi + } + + void toRadians() { + for (int i = 0; i < N; i++) + p_vec[i] *= 0.01745329251; // pi/180 + } + + double &x() { return p_vec[0]; } + double &y() { return p_vec[1]; } + double &z() { return p_vec[2]; } + double x() const { return p_vec[0]; } + double y() const { return p_vec[1]; } + double z() const { return p_vec[2]; } + +private: + double p_vec[N]; +}; + +template <> inline Vector<3> Vector<3>::cross(const Vector &v) const { + return Vector(p_vec[1] * v.p_vec[2] - p_vec[2] * v.p_vec[1], + p_vec[2] * v.p_vec[0] - p_vec[0] * v.p_vec[2], + p_vec[0] * v.p_vec[1] - p_vec[1] * v.p_vec[0]); +} + +} // namespace imu + +#endif
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