.. _program_listing_file__tmp_ws_src_tf2_2d_include_tf2_2d_vector2_impl.hpp: Program Listing for File vector2_impl.hpp ========================================= |exhale_lsh| :ref:`Return to documentation for file ` (``/tmp/ws/src/tf2_2d/include/tf2_2d/vector2_impl.hpp``) .. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS .. code-block:: cpp /* * Software License Agreement (BSD License) * * Copyright (c) 2019, Locus Robotics * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * 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. * * Neither the name of the copyright holder 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 HOLDER 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. */ #ifndef TF2_2D__VECTOR2_IMPL_HPP_ #define TF2_2D__VECTOR2_IMPL_HPP_ #include #include namespace tf2_2d { inline Vector2::Vector2() { setZero(); } inline Vector2::Vector2(const tf2Scalar x, const tf2Scalar y) { x_ = x; y_ = y; } inline Vector2 Vector2::operator-() const { return Vector2(-x_, -y_); } inline Vector2 & Vector2::operator+=(const Vector2 & rhs) { x_ += rhs.x_; y_ += rhs.y_; return *this; } inline Vector2 & Vector2::operator-=(const Vector2 & rhs) { x_ -= rhs.x_; y_ -= rhs.y_; return *this; } inline Vector2 & Vector2::operator*=(const tf2Scalar s) { x_ *= s; y_ *= s; return *this; } inline Vector2 & Vector2::operator*=(const Vector2 & rhs) { x_ *= rhs.x_; y_ *= rhs.y_; return *this; } inline Vector2 & Vector2::operator/=(const tf2Scalar rhs) { tf2FullAssert(rhs != tf2Scalar(0.0)); return *this *= tf2Scalar(1.0) / rhs; } inline Vector2 & Vector2::operator/=(const Vector2 & rhs) { x_ /= rhs.x_; y_ /= rhs.y_; return *this; } inline bool Vector2::operator==(const Vector2 & other) const { return (x_ == other.x_) && (y_ == other.y_); } inline bool Vector2::operator!=(const Vector2 & other) const { return !operator==(other); } inline tf2Scalar Vector2::dot(const Vector2 & other) const { return x_ * other.x_ + y_ * other.y_; } inline tf2Scalar Vector2::length2() const { return dot(*this); } inline tf2Scalar Vector2::length() const { return tf2Sqrt(length2()); } inline tf2Scalar Vector2::distance2(const Vector2 & other) const { return (other - *this).length2(); } inline tf2Scalar Vector2::distance(const Vector2 & other) const { return (other - *this).length(); } inline Vector2 & Vector2::normalize() { return *this /= length(); } inline Vector2 Vector2::normalized() const { return *this / length(); } inline tf2Scalar Vector2::angle(const Vector2 & other) const { tf2Scalar s = tf2Sqrt(length2() * other.length2()); tf2FullAssert(s != tf2Scalar(0)); return tf2Acos(dot(other) / s); } inline Vector2 Vector2::absolute() const { return Vector2(tf2Fabs(x_), tf2Fabs(y_)); } inline Vector2::Axis Vector2::minAxis() const { return x_ < y_ ? X : Y; } inline Vector2::Axis Vector2::maxAxis() const { return x_ < y_ ? Y : X; } inline Vector2::Axis Vector2::furthestAxis() const { return absolute().minAxis(); } inline Vector2::Axis Vector2::closestAxis() const { return absolute().maxAxis(); } inline Vector2 Vector2::lerp(const Vector2 & other, const tf2Scalar ratio) const { return Vector2( x_ + (other.x_ - x_) * ratio, y_ + (other.y_ - y_) * ratio); } inline const tf2Scalar & Vector2::getX() const { return x_; } inline const tf2Scalar & Vector2::getY() const { return y_; } inline void Vector2::setX(const tf2Scalar x) { x_ = x; } inline void Vector2::setY(const tf2Scalar y) { y_ = y; } inline void Vector2::setMax(const Vector2 & other) { tf2SetMax(x_, other.x_); tf2SetMax(y_, other.y_); } inline void Vector2::setMin(const Vector2 & other) { tf2SetMin(x_, other.x_); tf2SetMin(y_, other.y_); } inline void Vector2::setValue(const tf2Scalar x, const tf2Scalar y) { x_ = x; y_ = y; } inline void Vector2::setZero() { setValue(0.0, 0.0); } inline bool Vector2::isZero() const { return x_ == 0.0 && y_ == 0.0; } inline bool Vector2::fuzzyZero() const { return length2() < TF2SIMD_EPSILON; } inline Eigen::Vector2d Vector2::getVector() const { Eigen::Vector2d vec; vec << x_, y_; return vec; } inline Eigen::Matrix3d Vector2::getHomogeneousMatrix() const { Eigen::Matrix3d matrix; matrix << 0, 0, x_, 0, 0, y_, 0, 0, 1; return matrix; } inline Vector2 operator+(Vector2 lhs, const Vector2 & rhs) { lhs += rhs; return lhs; } inline Vector2 operator-(Vector2 lhs, const Vector2 & rhs) { lhs -= rhs; return lhs; } inline Vector2 operator*(Vector2 lhs, const tf2Scalar rhs) { lhs *= rhs; return lhs; } inline Vector2 operator*(const tf2Scalar lhs, Vector2 rhs) { rhs *= lhs; return rhs; } inline Vector2 operator*(Vector2 lhs, const Vector2 & rhs) { lhs *= rhs; return lhs; } inline Vector2 operator/(Vector2 lhs, const tf2Scalar rhs) { lhs /= rhs; return lhs; } inline Vector2 operator/(Vector2 lhs, const Vector2 & rhs) { lhs /= rhs; return lhs; } inline std::ostream & operator<<(std::ostream & stream, const Vector2 & vector) { return stream << "x: " << vector.x() << ", y: " << vector.y(); } } // namespace tf2_2d #endif // TF2_2D__VECTOR2_IMPL_HPP_