vector.hpp

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/*
 * Copyright (c) 2022-2023 Advanced Robotics at the University of Washington <robomstr@uw.edu>
 *
 * This file is part of Taproot.
 *
 * Taproot is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Taproot is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef TAPROOT_VECTOR_HPP_
#define TAPROOT_VECTOR_HPP_
 
#include "tap/algorithms/cmsis_mat.hpp"
 
namespace tap::algorithms::transforms
{
// forward declare position to avoid circular dependency
class Position;
 
class Vector
{
public:
    Vector(float x, float y, float z) : coordinates_({x, y, z}) {}
 
    Vector(const Vector&& other) : coordinates_(std::move(other.coordinates_)) {}
 
    Vector(const Vector& other) : coordinates_(CMSISMat(other.coordinates_)) {}
 
    Vector(const CMSISMat<3, 1>& coordinates) : coordinates_(CMSISMat(coordinates)) {}
 
    Vector(CMSISMat<3, 1>&& coordinates) : coordinates_(std::move(coordinates)) {}
 
    inline float x() const { return coordinates_.data[0]; }
 
    inline float y() const { return coordinates_.data[1]; }
 
    inline float z() const { return coordinates_.data[2]; }
 
    inline Vector& operator=(const Vector& other)
    {
        this->coordinates_ = other.coordinates_;
        return *this;
    }
 
    inline Vector operator+(const Position& other) const;
 
    inline Vector operator+(const Vector& other) const
    {
        return Vector(this->coordinates_ + other.coordinates_);
    }
 
    inline Vector operator-(const Vector& other) const
    {
        return Vector(this->coordinates_ - other.coordinates_);
    }
 
    inline Vector operator*(const float scale) const { return Vector(this->coordinates_ * scale); }
 
    inline static float dot(const Vector& a, const Vector& b)
    {
        return a.x() * b.x() + a.y() * b.y() + a.z() * b.z();
    }
 
    inline float dot(const Vector& other) const { return dot(*this, other); }
 
    inline Vector operator/(const float scale) const { return Vector(this->coordinates_ / scale); }
 
    const inline CMSISMat<3, 1>& coordinates() const { return coordinates_; }
 
    inline float magnitude() const { return sqrt(dot(*this, *this)); }
 
    friend class Transform;
    friend class DynamicPosition;
 
private:
    CMSISMat<3, 1> coordinates_;
};  // class Vector
}  // namespace tap::algorithms::transforms
 
#endif  // TAPROOT_VECTOR_HPP_