mirror of https://github.com/ArduPilot/ardupilot
149 lines
3.9 KiB
C++
149 lines
3.9 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
/*
|
|
* vector3.cpp
|
|
* Copyright (C) Andrew Tridgell 2012
|
|
*
|
|
* This file 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.
|
|
*
|
|
* This file 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 this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include "AP_Math.h"
|
|
|
|
template <typename T>
|
|
float Vector2<T>::length(void) const
|
|
{
|
|
return pythagorous2(x, y);
|
|
}
|
|
|
|
|
|
// dot product
|
|
template <typename T>
|
|
T Vector2<T>::operator *(const Vector2<T> &v) const
|
|
{
|
|
return x*v.x + y*v.y;
|
|
}
|
|
|
|
// cross product
|
|
template <typename T>
|
|
T Vector2<T>::operator %(const Vector2<T> &v) const
|
|
{
|
|
return x*v.y - y*v.x;
|
|
}
|
|
|
|
template <typename T>
|
|
Vector2<T> &Vector2<T>::operator *=(const T num)
|
|
{
|
|
x*=num; y*=num;
|
|
return *this;
|
|
}
|
|
|
|
template <typename T>
|
|
Vector2<T> &Vector2<T>::operator /=(const T num)
|
|
{
|
|
x /= num; y /= num;
|
|
return *this;
|
|
}
|
|
|
|
template <typename T>
|
|
Vector2<T> &Vector2<T>::operator -=(const Vector2<T> &v)
|
|
{
|
|
x -= v.x; y -= v.y;
|
|
return *this;
|
|
}
|
|
|
|
template <typename T>
|
|
bool Vector2<T>::is_nan(void) const
|
|
{
|
|
return isnan(x) || isnan(y);
|
|
}
|
|
|
|
template <typename T>
|
|
bool Vector2<T>::is_inf(void) const
|
|
{
|
|
return isinf(x) || isinf(y);
|
|
}
|
|
|
|
template <typename T>
|
|
Vector2<T> &Vector2<T>::operator +=(const Vector2<T> &v)
|
|
{
|
|
x+=v.x; y+=v.y;
|
|
return *this;
|
|
}
|
|
|
|
template <typename T>
|
|
Vector2<T> Vector2<T>::operator /(const T num) const
|
|
{
|
|
return Vector2<T>(x/num, y/num);
|
|
}
|
|
|
|
template <typename T>
|
|
Vector2<T> Vector2<T>::operator *(const T num) const
|
|
{
|
|
return Vector2<T>(x*num, y*num);
|
|
}
|
|
|
|
template <typename T>
|
|
Vector2<T> Vector2<T>::operator -(const Vector2<T> &v) const
|
|
{
|
|
return Vector2<T>(x-v.x, y-v.y);
|
|
}
|
|
|
|
template <typename T>
|
|
Vector2<T> Vector2<T>::operator +(const Vector2<T> &v) const
|
|
{
|
|
return Vector2<T>(x+v.x, y+v.y);
|
|
}
|
|
|
|
template <typename T>
|
|
Vector2<T> Vector2<T>::operator -(void) const
|
|
{
|
|
return Vector2<T>(-x,-y);
|
|
}
|
|
|
|
template <typename T>
|
|
bool Vector2<T>::operator ==(const Vector2<T> &v) const
|
|
{
|
|
return (x==v.x && y==v.y);
|
|
}
|
|
|
|
template <typename T>
|
|
bool Vector2<T>::operator !=(const Vector2<T> &v) const
|
|
{
|
|
return (x!=v.x && y!=v.y);
|
|
}
|
|
|
|
template <typename T>
|
|
float Vector2<T>::angle(const Vector2<T> &v2) const
|
|
{
|
|
return acosf(((*this)*v2) / (this->length()*v2.length()));
|
|
}
|
|
|
|
// only define for float
|
|
template float Vector2<float>::length(void) const;
|
|
template float Vector2<float>::operator *(const Vector2<float> &v) const;
|
|
template float Vector2<float>::operator %(const Vector2<float> &v) const;
|
|
template Vector2<float> &Vector2<float>::operator *=(const float num);
|
|
template Vector2<float> &Vector2<float>::operator /=(const float num);
|
|
template Vector2<float> &Vector2<float>::operator -=(const Vector2<float> &v);
|
|
template Vector2<float> &Vector2<float>::operator +=(const Vector2<float> &v);
|
|
template Vector2<float> Vector2<float>::operator /(const float num) const;
|
|
template Vector2<float> Vector2<float>::operator *(const float num) const;
|
|
template Vector2<float> Vector2<float>::operator +(const Vector2<float> &v) const;
|
|
template Vector2<float> Vector2<float>::operator -(const Vector2<float> &v) const;
|
|
template Vector2<float> Vector2<float>::operator -(void) const;
|
|
template bool Vector2<float>::operator ==(const Vector2<float> &v) const;
|
|
template bool Vector2<float>::operator !=(const Vector2<float> &v) const;
|
|
template bool Vector2<float>::is_nan(void) const;
|
|
template bool Vector2<float>::is_inf(void) const;
|
|
template float Vector2<float>::angle(const Vector2<float> &v) const;
|