mirror of https://github.com/ArduPilot/ardupilot
141 lines
3.7 KiB
C++
141 lines
3.7 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* vector3.cpp
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* Copyright (C) Andrew Tridgell 2012
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_Math.h"
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template <typename T>
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float Vector2<T>::length(void) const
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{
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return pythagorous2(x, y);
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}
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// dot product
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template <typename T>
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T Vector2<T>::operator *(const Vector2<T> &v) const
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{
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return x*v.x + y*v.y;
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}
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template <typename T>
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Vector2<T> &Vector2<T>::operator *=(const T num)
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{
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x*=num; y*=num;
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return *this;
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}
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template <typename T>
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Vector2<T> &Vector2<T>::operator /=(const T num)
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{
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x /= num; y /= num;
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return *this;
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}
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template <typename T>
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Vector2<T> &Vector2<T>::operator -=(const Vector2<T> &v)
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{
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x -= v.x; y -= v.y;
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return *this;
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}
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template <typename T>
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bool Vector2<T>::is_nan(void) const
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{
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return isnan(x) || isnan(y);
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}
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template <typename T>
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bool Vector2<T>::is_inf(void) const
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{
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return isinf(x) || isinf(y);
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}
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template <typename T>
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Vector2<T> &Vector2<T>::operator +=(const Vector2<T> &v)
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{
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x+=v.x; y+=v.y;
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return *this;
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}
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template <typename T>
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Vector2<T> Vector2<T>::operator /(const T num) const
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{
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return Vector2<T>(x/num, y/num);
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}
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template <typename T>
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Vector2<T> Vector2<T>::operator *(const T num) const
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{
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return Vector2<T>(x*num, y*num);
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}
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template <typename T>
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Vector2<T> Vector2<T>::operator -(const Vector2<T> &v) const
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{
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return Vector2<T>(x-v.x, y-v.y);
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}
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template <typename T>
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Vector2<T> Vector2<T>::operator +(const Vector2<T> &v) const
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{
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return Vector2<T>(x+v.x, y+v.y);
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}
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template <typename T>
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Vector2<T> Vector2<T>::operator -(void) const
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{
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return Vector2<T>(-x,-y);
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}
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template <typename T>
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bool Vector2<T>::operator ==(const Vector2<T> &v) const
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{
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return (x==v.x && y==v.y);
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}
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template <typename T>
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bool Vector2<T>::operator !=(const Vector2<T> &v) const
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{
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return (x!=v.x && y!=v.y);
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}
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template <typename T>
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float Vector2<T>::angle(const Vector2<T> &v2) const
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{
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return acosf(((*this)*v2) / (this->length()*v2.length()));
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}
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// only define for float
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template float Vector2<float>::length(void) const;
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template float Vector2<float>::operator *(const Vector2<float> &v) const;
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template Vector2<float> &Vector2<float>::operator *=(const float num);
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template Vector2<float> &Vector2<float>::operator /=(const float num);
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template Vector2<float> &Vector2<float>::operator -=(const Vector2<float> &v);
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template Vector2<float> &Vector2<float>::operator +=(const Vector2<float> &v);
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template Vector2<float> Vector2<float>::operator /(const float num) const;
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template Vector2<float> Vector2<float>::operator *(const float num) const;
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template Vector2<float> Vector2<float>::operator +(const Vector2<float> &v) const;
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template Vector2<float> Vector2<float>::operator -(const Vector2<float> &v) const;
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template Vector2<float> Vector2<float>::operator -(void) const;
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template bool Vector2<float>::operator ==(const Vector2<float> &v) const;
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template bool Vector2<float>::operator !=(const Vector2<float> &v) const;
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template bool Vector2<float>::is_nan(void) const;
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template bool Vector2<float>::is_inf(void) const;
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template float Vector2<float>::angle(const Vector2<float> &v) const;
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