vector_n.h
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00001 // HOG-Man - Hierarchical Optimization for Pose Graphs on Manifolds
00002 // Copyright (C) 2010 G. Grisetti, R. K├╝mmerle, C. Stachniss
00003 // 
00004 // HOG-Man is free software: you can redistribute it and/or modify
00005 // it under the terms of the GNU Lesser General Public License as published
00006 // by the Free Software Foundation, either version 3 of the License, or
00007 // (at your option) any later version.
00008 // 
00009 // HOG-Man is distributed in the hope that it will be useful,
00010 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00011 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00012 // GNU Lesser General Public License for more details.
00013 // 
00014 // You should have received a copy of the GNU Lesser General Public License
00015 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
00016 
00017 #ifndef _VECTORN_H_
00018 #define _VECTORN_H_
00019 #include <assert.h>
00020 #include <iostream>
00021 #include <hogman_minimal/stuff/array_allocator.h>
00022 
00025 
00026 template <int Rows, int Cols, typename Base>
00027   struct _Matrix;
00028 
00046 template <int N, typename Base=double>
00047 struct _Vector{
00048   typedef Base BaseType;
00049 
00052   inline int size() const {return _allocator.size();}
00053 
00056   inline const Base& operator[](int i) const {return _allocator[i];}
00057   inline bool operator==(const _Vector<N, Base>& other) const;
00058 
00060   inline Base& operator[](int i) {return _allocator[i];}
00061 
00063   _Vector(int s=N): _allocator(s){}
00064   static const int TemplateSize=N;
00065 
00069   template <typename Base2>
00070     _Vector(const _Vector<N, Base2>& v);
00071   
00076   _Vector(Base v0, Base v1){_allocator[0]=v0; _allocator[1]=v1;}
00077 
00083   _Vector(Base v0, Base v1, Base v2) {_allocator[0]=v0; _allocator[1]=v1; _allocator[2]=v2;}
00084 
00091   _Vector(Base v0, Base v1, Base v2, Base v3) {_allocator[0]=v0; _allocator[1]=v1; _allocator[2]=v2; _allocator[3]=v3;}
00092 
00093 
00094   // convenience accessor functions for transformations
00096   inline const Base& x()     const  {return _allocator[0];}
00097 
00099   inline const Base& y()     const  {return _allocator[1];}
00100 
00102   inline const Base& z()     const  {return _allocator[2];}
00103 
00105   inline const Base& w()     const  {return _allocator[3];}
00106 
00108   inline Base& x()            {return _allocator[0];}
00109 
00111   inline Base& y()            {return _allocator[1];}
00112 
00114   inline Base& z()            {return _allocator[2];}
00115 
00117   inline Base& w()            {return _allocator[3];}
00118 
00119   // rotational view
00121   inline const Base& roll()   const  {if (size() == 6) return _allocator[3]; return _allocator[0];}
00122 
00124   inline const Base& pitch() const  {if (size() == 6) return _allocator[4]; return _allocator[1];}
00125 
00127   inline const Base& yaw()   const  {if (size() == 6) return _allocator[5]; return _allocator[2];}
00128 
00130   inline Base& roll()          {if (size() == 6) return _allocator[3]; return _allocator[0];}
00131 
00133   inline Base& pitch()        {if (size() == 6) return
00134  _allocator[4]; return _allocator[1];}
00135 
00137   inline Base& yaw()          {if (size() == 6) return _allocator[5]; return _allocator[2];}
00138 
00139 
00143   _Vector<N,Base> operator + (const _Vector<N,Base>& v) const;
00144 
00148   _Vector<N,Base>& operator += (const _Vector<N,Base>& v);
00149 
00153   _Vector<N,Base> operator - (const _Vector<N,Base>& v) const;
00154 
00158   _Vector<N,Base>& operator -= (const _Vector<N,Base>& v);
00159 
00162   Base operator *(const _Vector<N,Base>& v) const;
00163 
00166   _Vector<N,Base>& operator *= (Base c);
00167 
00170   _Vector<N,Base> operator * (Base c) const;
00171 
00174   Base squaredNorm() const;
00175 
00178   Base norm() const;
00179 
00182   void normalize();
00183 
00187   void fill(Base scalar);
00188 
00191   _Vector<N,Base> normalized() const;
00192 
00195   operator _Matrix<N, 1, Base>() const;
00196 
00199   _ArrayAllocator<N,Base> _allocator;
00200 
00201 };
00202 
00205 template <int N, typename Base>
00206   std::ostream& operator << (std::ostream& os, const _Vector<N, Base>& v);
00207 
00209 template <int N, typename Base>
00210 _Vector<N, Base> operator* (Base x, const _Vector<N, Base>& v);
00211 
00212 typedef _Vector<2,int>   Vector2i;
00213 typedef _Vector<2,float> Vector2f;
00214 typedef _Vector<3,float> Vector3f;
00215 typedef _Vector<6,float> Vector6f;
00216 
00217 
00218 typedef _Vector<2,double> Vector2;
00219 typedef _Vector<3,double> Vector3;
00220 typedef _Vector<6,double> Vector6;
00221 
00222 // dynamic size vectors
00223 typedef _Vector<0,double> VectorX;
00224 typedef _Vector<0,float>  VectorXf;
00225 
00226 template <int N, typename Base>
00227   void st2dyn(_Vector<0,Base>& dest, const _Vector<N,Base> src){
00228   std2dyn(dest._allocator, src._allocator);
00229 }
00230 
00231 template <int N, typename Base>
00232   void dyn2st(_Vector<0,Base>& dest, const _Vector<N,Base> src){
00233   dyn2st(dest._allocator, src._alloator);
00234 }
00235 
00237 
00238 #include "vector_n.hpp"
00239 
00240 #endif
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hogman_minimal
Author(s): Maintained by Juergen Sturm
autogenerated on Wed Dec 26 2012 15:36:49