forked from Archive/PX4-Autopilot
matrix: add explicit Vector4 type
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/****************************************************************************
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*
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* Copyright (C) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file Vector4.hpp
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*
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* 4D vector class.
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*
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* @author Matthias Grob <maetugr@gmail.com>
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*/
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#pragma once
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#include "math.hpp"
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namespace matrix
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{
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template <typename Type, size_t M, size_t N>
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class Matrix;
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template <typename Type, size_t M>
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class Vector;
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template<typename Type>
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class Vector4 : public Vector<Type, 4>
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{
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public:
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using Matrix41 = Matrix<Type, 4, 1>;
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Vector4() = default;
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Vector4(const Matrix41 &other) :
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Vector<Type, 4>(other)
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{
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}
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explicit Vector4(const Type data_[3]) :
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Vector<Type, 4>(data_)
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{
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}
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Vector4(Type x1, Type x2, Type x3, Type x4)
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{
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Vector4 &v(*this);
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v(0) = x1;
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v(1) = x2;
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v(2) = x3;
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v(3) = x4;
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}
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template<size_t P, size_t Q>
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Vector4(const Slice<Type, 4, 1, P, Q> &slice_in) : Vector<Type, 4>(slice_in)
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{
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}
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template<size_t P, size_t Q>
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Vector4(const Slice<Type, 1, 4, P, Q> &slice_in) : Vector<Type, 4>(slice_in)
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{
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}
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};
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using Vector4f = Vector4<float>;
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} // namespace matrix
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@ -11,6 +11,7 @@
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#include "Vector.hpp"
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#include "Vector2.hpp"
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#include "Vector3.hpp"
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#include "Vector4.hpp"
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#include "Euler.hpp"
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#include "Dcm.hpp"
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#include "Scalar.hpp"
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@ -0,0 +1,46 @@
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/****************************************************************************
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*
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* Copyright (C) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <gtest/gtest.h>
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#include <matrix/math.hpp>
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using namespace matrix;
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TEST(MatrixVector4Test, Vector4)
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{
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Vector4f a(1.f, 2.f, 3.f, 4.f);
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EXPECT_EQ(a(0), 1.f);
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EXPECT_EQ(a(1), 2.f);
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EXPECT_EQ(a(2), 3.f);
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EXPECT_EQ(a(3), 4.f);
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}
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@ -64,7 +64,6 @@ public:
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typedef matrix::Vector<float, _k_num_states> Vector24f;
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typedef matrix::SquareMatrix<float, _k_num_states> SquareMatrix24f;
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typedef matrix::SquareMatrix<float, 2> Matrix2f;
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typedef matrix::Vector<float, 4> Vector4f;
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template<int ... Idxs>
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using SparseVector24f = matrix::SparseVectorf<24, Idxs...>;
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