// Copyright 2003 Google, Inc. // All Rights Reserved. // // // A simple class to handle vectors in 3D // See the vector3-inl.h file for more details #ifndef UTIL_MATH_VECTOR3_H__ #define UTIL_MATH_VECTOR3_H__ #include using std::ostream; using std::cout; using std::endl; // NOLINT(readability/streams) #include "base/basictypes.h" template class Vector3; // TODO(user): Look into creating conversion operators to remove the // need to forward-declare Vector2 and Vector4. template class Vector2; template class Vector4; // Template class for 3D vectors. // All definitions for these functions are in vector3-inl.h. That header will // need to be included in order to actually use this class. This class can be // regarded to only forward-declare Vector3. template class Vector3 { private: VType c_[3]; // FloatType is the type returned by Norm() and Angle(). These methods are // special because they return floating-point values even when VType is an // integer. typedef typename base::if_::value, double, VType>::type FloatType; public: typedef Vector3 Self; typedef VType BaseType; // Create a new vector (0,0,0) Vector3(); // Create a new vector (x,y,z) Vector3(const VType x, const VType y, const VType z); // Create a new 3D vector using the two first coordinates of a 2D vectors // and an additional z argument. explicit Vector3(const Vector2 &vb, VType z); // Create a new copy of the vector vb Vector3(const Self &vb); // Keep only the three first coordinates of the 4D vector vb explicit Vector3(const Vector4 &vb); // Convert from another vector type template static Self Cast(const Vector3 &vb); // Compare two vectors, return true if all their components are equal bool operator==(const Self& vb) const; bool operator!=(const Self& vb) const; // Compare two vectors, return true if all their components are within // a difference of margin. bool aequal(const Self &vb, FloatType margin) const; // Compare two vectors, these comparisons are mostly for interaction // with STL. bool operator<(const Self &vb) const; bool operator>(const Self &vb) const; bool operator<=(const Self &vb) const; bool operator>=(const Self &vb) const; // Return the size of the vector static int Size() { return 3; } // Modify the coordinates of the current vector void Set(const VType x, const VType y, const VType z); Self& operator=(const Self& vb); // Add two vectors, component by component Self& operator+=(const Self &vb); // Subtract two vectors, component by component Self& operator-=(const Self &vb); // Multiply a vector by a scalar Self& operator*=(const VType k); // Divide a vector by a scalar Self& operator/=(const VType k); // Multiply two vectors component by component Self MulComponents(const Self &vb) const; // Divide two vectors component by component Self DivComponents(const Self &vb) const; // Add two vectors, component by component Self operator+(const Self &vb) const; // Subtract two vectors, component by component Self operator-(const Self &vb) const; // Dot product. Be aware that if VType is an integer type, the high bits of // the result are silently discarded. VType DotProd(const Self &vb) const; // Multiplication by a scalar Self operator*(const VType k) const; // Divide by a scalar Self operator/(const VType k) const; // Cross product. Be aware that if VType is an integer type, the high bits // of the result are silently discarded. Self CrossProd(const Self& vb) const; // Access component #b for read/write operations VType& operator[](const int b); // Access component #b for read only operations VType operator[](const int b) const; // Labeled Accessor methods. void x(const VType &v); VType x() const; void y(const VType &v); VType y() const; void z(const VType &v); VType z() const; // return a pointer to the data array for interface with other libraries // like opencv VType* Data(); const VType* Data() const; // Return the squared Euclidean norm of the vector. Be aware that if VType // is an integer type, the high bits of the result are silently discarded. VType Norm2(void) const; // Return the Euclidean norm of the vector. Note that if VType is an // integer type, the return value is correct only if the *squared* norm does // not overflow VType. FloatType Norm(void) const; // Return a normalized version of the vector if the norm of the // vector is not 0. Not to be used with integer types. Self Normalize() const; // return a vector orthogonal to this one Self Ortho() const; // return the index of the largest component (fabs) int LargestAbsComponent() const; // return the index of the smallest, median ,largest component of the vector Vector3 ComponentOrder() const; // return the angle between two vectors in radians FloatType Angle(const Self &va) const; // take the sqrt of each component and return a vector containing those values Self Sqrt() const; // take the fabs of each component and return a vector containing those values Self Fabs() const; // Take the absolute value of each component and return a vector containing // those values. This method should only be used when VType is a signed // integer type that is not wider than "int". Self Abs() const; // take the floor of each component and return a vector containing // those values Self Floor() const; // take the ceil of each component and return a vector containing those values Self Ceil() const; // take the round of each component and return a vector containing those // values Self FRound() const; // take the round of each component and return an integer vector containing // those values Vector3 IRound() const; // Reset all the coordinates of the vector to 0 void Clear(); // return true if one of the components is not a number bool IsNaN() const; // return an invalid floating point vector static Self NaN(); }; // Change the sign of the components of a vector template Vector3 operator-(const Vector3 &vb); // multiply by a scalar template Vector3 operator*(const ScalarType k, const Vector3 &v); // perform k / template Vector3 operator/(const ScalarType k, const Vector3 &v); // return a vector containing the max of v1 and v2 component by component template Vector3 Max(const Vector3 &v1, const Vector3 &v2); // return a vector containing the min of v1 and v2 component by component template Vector3 Min(const Vector3 &v1, const Vector3 &v2); // debug printing template std::ostream &operator <<(std::ostream &out, // NOLINT const Vector3 &va); // TODO(user): Declare extern templates for these types. typedef Vector3 Vector3_b; typedef Vector3 Vector3_i; typedef Vector3 Vector3_f; typedef Vector3 Vector3_d; #endif // UTIL_MATH_VECTOR3_H__