mirror of
https://github.com/swift-project/pilotclient.git
synced 2026-04-13 15:45:42 +08:00
Klaus Basan
committed by
Mathew Sutcliffe
Mathew Sutcliffe
parent
229d7c6068
commit
978f3c88e5
@@ -11,362 +11,356 @@
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namespace BlackMisc
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{
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namespace Math
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{
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class CMatrix3x1;
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/*!
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* \brief 3D vector base (x, y, z)
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*/
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template <class ImplVector> class CVector3DBase : public CStreamable
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{
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private:
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/*!
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* \brief Easy access to derived class (CRTP template parameter)
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* \return
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*/
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ImplVector const *derived() const
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namespace Math
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{
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return static_cast<ImplVector const *>(this);
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}
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/*!
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* \brief Easy access to derived class (CRTP template parameter)
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* \return
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*/
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ImplVector *derived()
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{
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return static_cast<ImplVector *>(this);
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}
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class CMatrix3x1;
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protected:
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// using own value since Qt QVector3D stores internally as float
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double m_i; //!< Vector data i
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double m_j; //!< Vector data j
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double m_k; //!< Vector data k
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/*!
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* \brief 3D vector base (x, y, z)
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*/
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template <class ImplVector> class CVector3DBase : public CStreamable
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{
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private:
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/*!
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* \brief Easy access to derived class (CRTP template parameter)
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* \return
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*/
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ImplVector const *derived() const
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{
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return static_cast<ImplVector const *>(this);
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}
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/*!
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* \brief Default constructor
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*/
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CVector3DBase() : m_i(0.0), m_j(0.0), m_k(0.0) {}
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/*!
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* \brief Easy access to derived class (CRTP template parameter)
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* \return
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*/
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ImplVector *derived()
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{
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return static_cast<ImplVector *>(this);
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}
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/*!
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* \brief Constructor by values
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* \param i
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* \param j
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* \param k
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*/
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CVector3DBase(double i, double j, double k) : m_i(i), m_j(j), m_k(k) {}
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protected:
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// using own value since Qt QVector3D stores internally as float
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double m_i; //!< Vector data i
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double m_j; //!< Vector data j
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double m_k; //!< Vector data k
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/*!
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* \brief Constructor by value
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* \param value
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*/
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explicit CVector3DBase(double value) : m_i(value), m_j(value), m_k(value) {}
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/*!
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* \brief Default constructor
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*/
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CVector3DBase() : m_i(0.0), m_j(0.0), m_k(0.0) {}
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/*!
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* \brief Copy constructor
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* \param other
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*/
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CVector3DBase(const CVector3DBase &other) : m_i(other.m_i), m_j(other.m_j), m_k(other.m_k) {}
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/*!
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* \brief Constructor by values
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* \param i
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* \param j
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* \param k
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*/
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CVector3DBase(double i, double j, double k) : m_i(i), m_j(j), m_k(k) {}
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/*!
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* \brief Get element
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* \param row
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* \return Mutable reference
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*/
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double &getElement(size_t row);
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/*!
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* \brief Constructor by value
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* \param value
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*/
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explicit CVector3DBase(double value) : m_i(value), m_j(value), m_k(value) {}
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/*!
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* \brief String for converter
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* \param i18n
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* \return
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*/
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virtual QString convertToQString(bool i18n = false) const;
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/*!
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* \brief Get element
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* \param row
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* \return Mutable reference
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*/
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double &getElement(size_t row);
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/*!
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* \brief Unmarshall from Dbus
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* \param argument
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*/
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virtual void unmarshallFromDbus(const QDBusArgument &argument);
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/*!
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* \brief String for converter
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* \param i18n
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* \return
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*/
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virtual QString convertToQString(bool i18n = false) const;
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/*!
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* \brief Marshall to Dbus
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* \param argument
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*/
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virtual void marshallToDbus(QDBusArgument &argument) const;
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/*!
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* \brief Unmarshall from Dbus
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* \param argument
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*/
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virtual void unmarshallFromDbus(const QDBusArgument &argument);
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public:
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// getter and setters are implemented in the derived classes
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// as they have different names (x, i, north)
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/*!
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* \brief Marshall to Dbus
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* \param argument
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*/
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virtual void marshallToDbus(QDBusArgument &argument) const;
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/*!
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* \brief Virtual destructor
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*/
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virtual ~CVector3DBase() {}
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public:
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// getter and setters are implemented in the derived classes
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// as they have different names (x, i, north)
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/*!
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* \brief Set zeros
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*/
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void setZero();
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/*!
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* \brief Virtual destructor
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*/
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virtual ~CVector3DBase() {}
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/*!
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* \brief Is zero
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*/
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bool isZero() const
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{
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return this->m_i == 0 && this->m_j == 0 && this->m_k == 0;
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}
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/*!
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* \brief Set zeros
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*/
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void setZero();
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/*!
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* \brief Is identity matrix? Epsilon considered.
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* \return
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*/
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bool isZeroEpsilon() const
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{
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ImplVector v;
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v += *this;
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v.round();
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return v.isZero();
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}
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/*!
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* \brief Is zero
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*/
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bool isZero() const
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{
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return this->m_i == 0 && this->m_j == 0 && this->m_k == 0;
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}
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/*!
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* \brief Set all elements the same
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* \param value
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*/
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void fill(double value);
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/*!
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* \brief Is identity matrix? Epsilon considered.
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* \return
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*/
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bool isZeroEpsilon() const
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{
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ImplVector v;
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v += *this;
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v.round();
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return v.isZero();
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}
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/*!
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* \brief Get element
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* \param row
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* \return
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*/
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double getElement(size_t row) const;
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/*!
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* \brief Set all elements the same
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* \param value
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*/
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void fill(double value);
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/*!
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* \brief Set element
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* \param row
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* \param value
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*/
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void setElement(size_t row, double value);
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/*!
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* \brief Get element
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* \param row
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* \return
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*/
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double getElement(size_t row) const;
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/*!
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* \brief Operator []
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* \param row
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* \return
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*/
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double operator[](size_t row) const { return this->getElement(row); }
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/*!
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* \brief Set element
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* \param row
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* \param value
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*/
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void setElement(size_t row, double value);
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/*!
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* \brief Operator []
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* \param row
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* \return Mutable reference
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*/
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double &operator[](size_t row) { return this->getElement(row); }
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/*!
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* \brief Operator []
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* \param row
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* \return
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*/
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double operator[](size_t row) const { return this->getElement(row); }
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/*!
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* \brief Equal operator ==
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* \param other
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* \return
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*/
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bool operator ==(const CVector3DBase &other) const
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{
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if (this == &other) return true;
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return this->m_i == other.m_i &&
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this->m_j == other.m_j &&
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this->m_k == other.m_k;
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}
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/*!
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* \brief Operator []
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* \param row
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* \return Mutable reference
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*/
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double &operator[](size_t row) { return this->getElement(row); }
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/*!
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* \brief Unequal operator !=
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* \param other
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* \return
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*/
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bool operator !=(const CVector3DBase &other) const
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{
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return !((*this) == other);
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}
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/*!
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* \brief Equal operator ==
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* \param other
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* \return
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*/
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bool operator ==(const CVector3DBase &other) const
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{
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if (this == &other) return true;
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return this->m_i == other.m_i &&
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this->m_j == other.m_j &&
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this->m_k == other.m_k;
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}
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/*!
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* \brief Operator +=
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* \param other
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* \return
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*/
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CVector3DBase &operator +=(const CVector3DBase &other)
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{
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this->m_i += other.m_i;
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this->m_j += other.m_j;
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this->m_k += other.m_k;
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return *this;
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}
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/*!
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* \brief Unequal operator !=
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* \param other
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* \return
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*/
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bool operator !=(const CVector3DBase &other) const
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{
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return !((*this) == other);
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}
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/*!
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* \brief Operator +
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* \param other
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* \return
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*/
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ImplVector operator +(const ImplVector &other) const
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{
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ImplVector v = *derived();
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v += other;
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return v;
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}
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/*!
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* \brief Operator +=
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* \param other
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* \return
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*/
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CVector3DBase &operator +=(const CVector3DBase &other)
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{
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this->m_i += other.m_i;
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this->m_j += other.m_j;
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this->m_k += other.m_k;
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return *this;
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}
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/*!
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* \brief Operator -=
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* \param other
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* \return
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*/
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CVector3DBase &operator -=(const CVector3DBase &other)
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{
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this->m_i -= other.m_i;
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this->m_j -= other.m_j;
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this->m_k -= other.m_k;
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return *this;
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}
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/*!
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* \brief Operator +
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* \param other
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* \return
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*/
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ImplVector operator +(const ImplVector &other) const
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{
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ImplVector v = *derived();
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v += other;
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return v;
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}
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/*!
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* \brief Operator -
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* \param other
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* \return
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*/
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ImplVector operator -(const ImplVector &other) const
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{
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ImplVector v = *derived();
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v -= other;
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return v;
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}
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/*!
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* \brief Operator -=
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* \param other
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* \return
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*/
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CVector3DBase &operator -=(const CVector3DBase &other)
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{
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this->m_i -= other.m_i;
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this->m_j -= other.m_j;
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this->m_k -= other.m_k;
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return *this;
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}
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/*!
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* \brief Multiply with scalar
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* \param factor
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* \return
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*/
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CVector3DBase &operator *=(double factor)
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{
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this->m_i *= factor;
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this->m_j *= factor;
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this->m_k *= factor;
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return *this;
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}
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/*!
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* \brief Operator -
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* \param other
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* \return
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*/
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ImplVector operator -(const ImplVector &other) const
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{
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ImplVector v = *derived();
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v -= other;
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return v;
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}
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/*!
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* \brief Multiply with scalar
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* \param factor
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* \return
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*/
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ImplVector operator *(double factor) const
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{
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ImplVector v = *derived();
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v *= factor;
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return v;
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}
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/*!
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* \brief Multiply with scalar
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* \param factor
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* \return
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*/
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CVector3DBase &operator *=(double factor)
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{
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this->m_i *= factor;
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this->m_j *= factor;
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this->m_k *= factor;
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return *this;
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}
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/*!
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* \brief Operator to support commutative multiplication
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* \param factor
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* \param otherVector
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* \return
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*/
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friend ImplVector operator *(double factor, const ImplVector &other)
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{
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return other * factor;
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}
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/*!
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* \brief Multiply with scalar
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* \param factor
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* \return
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*/
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ImplVector operator *(double factor) const
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{
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ImplVector v = *derived();
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v *= factor;
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return v;
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}
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/*!
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* \brief Divide by scalar
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* \param divisor
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* \return
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*/
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CVector3DBase &operator /=(double divisor)
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{
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this->m_i /= divisor;
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this->m_j /= divisor;
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this->m_k /= divisor;
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return *this;
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}
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/*!
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* \brief Operator to support commutative multiplication
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* \param factor
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* \param otherVector
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* \return
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*/
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friend ImplVector operator *(double factor, const ImplVector &other)
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{
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return other * factor;
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}
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/*!
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* \brief Divide by scalar
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* \param divisor
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* \return
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*/
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ImplVector operator /(double divisor) const
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{
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ImplVector v = *derived();
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v /= divisor;
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return v;
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}
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/*!
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* \brief Divide by scalar
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* \param divisor
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* \return
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*/
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CVector3DBase &operator /=(double divisor)
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{
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this->m_i /= divisor;
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this->m_j /= divisor;
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this->m_k /= divisor;
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return *this;
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}
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/*!
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* \brief Dot product
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* \param other
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* \return
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*/
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double dotProduct(const ImplVector &other) const;
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/*!
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* \brief Divide by scalar
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* \param divisor
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* \return
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*/
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ImplVector operator /(double divisor) const
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{
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ImplVector v = *derived();
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v /= divisor;
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return v;
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}
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/*!
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* \brief Cross product
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* \param other
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* \return
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*/
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ImplVector crossProduct(const ImplVector &other) const;
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/*!
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* \brief Dot product
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* \param other
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* \return
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*/
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double dotProduct(const ImplVector &other) const;
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/*!
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* \brief Reciprocal value
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* \return
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*/
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ImplVector reciprocalValues() const
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{
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ImplVector v(1 / this->m_i, 1 / this->m_j, 1 / this->m_j);
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return v;
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}
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/*!
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* \brief Cross product
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* \param other
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* \return
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*/
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ImplVector crossProduct(const ImplVector &other) const;
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/*!
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* \brief Converted to matrix
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* \return
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*/
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CMatrix3x1 toMatrix3x1() const;
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/*!
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* \brief Reciprocal value
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||||
* \return
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*/
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ImplVector reciprocalValues() const
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{
|
||||
ImplVector v(1 / this->m_i, 1 / this->m_j, 1 / this->m_j);
|
||||
return v;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief length / magnitude
|
||||
* \return
|
||||
*/
|
||||
double length() const
|
||||
{
|
||||
return sqrt(this->m_i * this->m_i + this->m_j * this->m_j + this->m_k * this->m_k);
|
||||
}
|
||||
/*!
|
||||
* \brief Converted to matrix
|
||||
* \return
|
||||
*/
|
||||
CMatrix3x1 toMatrix3x1() const;
|
||||
|
||||
/*!
|
||||
* \brief Round this vector
|
||||
*/
|
||||
void round()
|
||||
{
|
||||
const double epsilon = 1E-10;
|
||||
this->m_i = BlackMisc::Math::CMath::roundEpsilon(this->m_i, epsilon);
|
||||
this->m_j = BlackMisc::Math::CMath::roundEpsilon(this->m_j, epsilon);
|
||||
this->m_k = BlackMisc::Math::CMath::roundEpsilon(this->m_k, epsilon);
|
||||
}
|
||||
/*!
|
||||
* \brief length / magnitude
|
||||
* \return
|
||||
*/
|
||||
double length() const
|
||||
{
|
||||
return sqrt(this->m_i * this->m_i + this->m_j * this->m_j + this->m_k * this->m_k);
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Rounded vector
|
||||
* \return
|
||||
*/
|
||||
ImplVector rounded() const
|
||||
{
|
||||
ImplVector v = *derived();
|
||||
v.round();
|
||||
return v;
|
||||
}
|
||||
/*!
|
||||
* \brief Round this vector
|
||||
*/
|
||||
void round()
|
||||
{
|
||||
const double epsilon = 1E-10;
|
||||
this->m_i = BlackMisc::Math::CMath::roundEpsilon(this->m_i, epsilon);
|
||||
this->m_j = BlackMisc::Math::CMath::roundEpsilon(this->m_j, epsilon);
|
||||
this->m_k = BlackMisc::Math::CMath::roundEpsilon(this->m_k, epsilon);
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Register metadata
|
||||
*/
|
||||
static void registerMetadata();
|
||||
};
|
||||
/*!
|
||||
* \brief Rounded vector
|
||||
* \return
|
||||
*/
|
||||
ImplVector rounded() const
|
||||
{
|
||||
ImplVector v = *derived();
|
||||
v.round();
|
||||
return v;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
/*!
|
||||
* \brief Register metadata
|
||||
*/
|
||||
static void registerMetadata();
|
||||
};
|
||||
|
||||
} // namespace
|
||||
} // namespace
|
||||
|
||||
#endif // guard
|
||||
|
||||
Reference in New Issue
Block a user