1 | // Copyright 2003 Google, Inc. |
2 | // All Rights Reserved. |
3 | // |
4 | // |
5 | // A simple class to handle vectors in 3D |
6 | // See the vector3-inl.h file for more details |
7 | |
8 | |
9 | #ifndef UTIL_MATH_VECTOR3_H__ |
10 | #define UTIL_MATH_VECTOR3_H__ |
11 | |
12 | #include <iostream> |
13 | using std::ostream; |
14 | using std::cout; |
15 | using std::endl; |
16 | // NOLINT(readability/streams) |
17 | #include "base/basictypes.h" |
18 | |
19 | template <typename VType> class Vector3; |
20 | // TODO(user): Look into creating conversion operators to remove the |
21 | // need to forward-declare Vector2 and Vector4. |
22 | template <typename VType> class Vector2; |
23 | template <typename VType> class Vector4; |
24 | |
25 | // Template class for 3D vectors. |
26 | // All definitions for these functions are in vector3-inl.h. That header will |
27 | // need to be included in order to actually use this class. This class can be |
28 | // regarded to only forward-declare Vector3. |
29 | template <typename VType> |
30 | class Vector3 { |
31 | private: |
32 | VType c_[3]; |
33 | |
34 | // FloatType is the type returned by Norm() and Angle(). These methods are |
35 | // special because they return floating-point values even when VType is an |
36 | // integer. |
37 | typedef typename base::if_<base::is_integral<VType>::value, |
38 | double, VType>::type FloatType; |
39 | |
40 | public: |
41 | typedef Vector3<VType> Self; |
42 | typedef VType BaseType; |
43 | // Create a new vector (0,0,0) |
44 | Vector3(); |
45 | // Create a new vector (x,y,z) |
46 | Vector3(const VType x, const VType y, const VType z); |
47 | // Create a new 3D vector using the two first coordinates of a 2D vectors |
48 | // and an additional z argument. |
49 | explicit Vector3(const Vector2<VType> &vb, VType z); |
50 | // Create a new copy of the vector vb |
51 | Vector3(const Self &vb); |
52 | // Keep only the three first coordinates of the 4D vector vb |
53 | explicit Vector3(const Vector4<VType> &vb); |
54 | // Convert from another vector type |
55 | template <typename VType2> |
56 | static Self Cast(const Vector3<VType2> &vb); |
57 | // Compare two vectors, return true if all their components are equal |
58 | bool operator==(const Self& vb) const; |
59 | bool operator!=(const Self& vb) const; |
60 | // Compare two vectors, return true if all their components are within |
61 | // a difference of margin. |
62 | bool aequal(const Self &vb, FloatType margin) const; |
63 | // Compare two vectors, these comparisons are mostly for interaction |
64 | // with STL. |
65 | bool operator<(const Self &vb) const; |
66 | bool operator>(const Self &vb) const; |
67 | bool operator<=(const Self &vb) const; |
68 | bool operator>=(const Self &vb) const; |
69 | |
70 | // Return the size of the vector |
71 | static int Size() { return 3; } |
72 | // Modify the coordinates of the current vector |
73 | void Set(const VType x, const VType y, const VType z); |
74 | Self& operator=(const Self& vb); |
75 | // Add two vectors, component by component |
76 | Self& operator+=(const Self &vb); |
77 | // Subtract two vectors, component by component |
78 | Self& operator-=(const Self &vb); |
79 | // Multiply a vector by a scalar |
80 | Self& operator*=(const VType k); |
81 | // Divide a vector by a scalar |
82 | Self& operator/=(const VType k); |
83 | // Multiply two vectors component by component |
84 | Self MulComponents(const Self &vb) const; |
85 | // Divide two vectors component by component |
86 | Self DivComponents(const Self &vb) const; |
87 | // Add two vectors, component by component |
88 | Self operator+(const Self &vb) const; |
89 | // Subtract two vectors, component by component |
90 | Self operator-(const Self &vb) const; |
91 | // Dot product. Be aware that if VType is an integer type, the high bits of |
92 | // the result are silently discarded. |
93 | VType DotProd(const Self &vb) const; |
94 | // Multiplication by a scalar |
95 | Self operator*(const VType k) const; |
96 | // Divide by a scalar |
97 | Self operator/(const VType k) const; |
98 | // Cross product. Be aware that if VType is an integer type, the high bits |
99 | // of the result are silently discarded. |
100 | Self CrossProd(const Self& vb) const; |
101 | // Access component #b for read/write operations |
102 | VType& operator[](const int b); |
103 | // Access component #b for read only operations |
104 | VType operator[](const int b) const; |
105 | // Labeled Accessor methods. |
106 | void x(const VType &v); |
107 | VType x() const; |
108 | void y(const VType &v); |
109 | VType y() const; |
110 | void z(const VType &v); |
111 | VType z() const; |
112 | // return a pointer to the data array for interface with other libraries |
113 | // like opencv |
114 | VType* Data(); |
115 | const VType* Data() const; |
116 | // Return the squared Euclidean norm of the vector. Be aware that if VType |
117 | // is an integer type, the high bits of the result are silently discarded. |
118 | VType Norm2(void) const; |
119 | // Return the Euclidean norm of the vector. Note that if VType is an |
120 | // integer type, the return value is correct only if the *squared* norm does |
121 | // not overflow VType. |
122 | FloatType Norm(void) const; |
123 | // Return a normalized version of the vector if the norm of the |
124 | // vector is not 0. Not to be used with integer types. |
125 | Self Normalize() const; |
126 | // return a vector orthogonal to this one |
127 | Self Ortho() const; |
128 | // return the index of the largest component (fabs) |
129 | int LargestAbsComponent() const; |
130 | // return the index of the smallest, median ,largest component of the vector |
131 | Vector3<int> ComponentOrder() const; |
132 | // return the angle between two vectors in radians |
133 | FloatType Angle(const Self &va) const; |
134 | // take the sqrt of each component and return a vector containing those values |
135 | Self Sqrt() const; |
136 | // take the fabs of each component and return a vector containing those values |
137 | Self Fabs() const; |
138 | // Take the absolute value of each component and return a vector containing |
139 | // those values. This method should only be used when VType is a signed |
140 | // integer type that is not wider than "int". |
141 | Self Abs() const; |
142 | // take the floor of each component and return a vector containing |
143 | // those values |
144 | Self Floor() const; |
145 | // take the ceil of each component and return a vector containing those values |
146 | Self Ceil() const; |
147 | // take the round of each component and return a vector containing those |
148 | // values |
149 | Self FRound() const; |
150 | // take the round of each component and return an integer vector containing |
151 | // those values |
152 | Vector3<int> IRound() const; |
153 | // Reset all the coordinates of the vector to 0 |
154 | void Clear(); |
155 | |
156 | // return true if one of the components is not a number |
157 | bool IsNaN() const; |
158 | |
159 | // return an invalid floating point vector |
160 | static Self NaN(); |
161 | }; |
162 | |
163 | // Change the sign of the components of a vector |
164 | template <typename VType> |
165 | Vector3<VType> operator-(const Vector3<VType> &vb); |
166 | // multiply by a scalar |
167 | template <typename ScalarType, typename VType> |
168 | Vector3<VType> operator*(const ScalarType k, const Vector3<VType> &v); |
169 | // perform k / |
170 | template <typename ScalarType, typename VType> |
171 | Vector3<VType> operator/(const ScalarType k, const Vector3<VType> &v); |
172 | // return a vector containing the max of v1 and v2 component by component |
173 | template <typename VType> |
174 | Vector3<VType> Max(const Vector3<VType> &v1, const Vector3<VType> &v2); |
175 | // return a vector containing the min of v1 and v2 component by component |
176 | template <typename VType> |
177 | Vector3<VType> Min(const Vector3<VType> &v1, const Vector3<VType> &v2); |
178 | // debug printing |
179 | template <typename VType> |
180 | std::ostream &operator <<(std::ostream &out, // NOLINT |
181 | const Vector3<VType> &va); |
182 | |
183 | // TODO(user): Declare extern templates for these types. |
184 | typedef Vector3<uint8> Vector3_b; |
185 | typedef Vector3<int> Vector3_i; |
186 | typedef Vector3<float> Vector3_f; |
187 | typedef Vector3<double> Vector3_d; |
188 | |
189 | #endif // UTIL_MATH_VECTOR3_H__ |
190 | |