pilotclient/src/blackmisc/mathvector3dbase.cpp

/* Copyright (C) 2013
 * swift project Community / Contributors
 *
 * This file is part of swift project. It is subject to the license terms in the LICENSE file found in the top-level
 * directory of this distribution and at http://www.swift-project.org/license.html. No part of swift project,
 * including this file, may be copied, modified, propagated, or distributed except according to the terms
 * contained in the LICENSE file.
 */

#include "blackmisc/mathvector3d.h"
#include "blackmisc/mathmatrix3x3.h"
#include "blackmisc/coordinateecef.h"
#include "blackmisc/coordinatened.h"
#include "blackmisc/blackmiscfreefunctions.h"
#include <tuple>

namespace BlackMisc
{
    namespace Math
    {

        /*
         * Convert to string
         */
        template <class ImplVector> QString CVector3DBase<ImplVector>::convertToQString(bool /* i18n */) const
        {
            QString s = ("{%1, %2, %3}");
            s = s.arg(QString::number(this->m_i, 'f')).
                arg(QString::number(this->m_j, 'f')).
                arg(QString::number(this->m_k, 'f'));
            return s;
        }

        /*
         * metaTypeId
         */
        template <class ImplVector> int CVector3DBase<ImplVector>::getMetaTypeId() const
        {
            return qMetaTypeId<ImplVector>();
        }

        /*
         * is a
         */
        template <class ImplVector> bool CVector3DBase<ImplVector>::isA(int metaTypeId) const
        {
            if (metaTypeId == qMetaTypeId<ImplVector>()) { return true; }

            return this->CValueObject::isA(metaTypeId);
        }

        /*
         * Compare
         */
        template <class ImplVector> int CVector3DBase<ImplVector>::compareImpl(const CValueObject &otherBase) const
        {
            const auto &other = static_cast<const CVector3DBase &>(otherBase);

            return compare(TupleConverter<CVector3DBase>::toTuple(*this), TupleConverter<CVector3DBase>::toTuple(other));
        }

        /*
         * Vector to zero
         */
        template <class ImplVector> void CVector3DBase<ImplVector>::setZero()
        {
            this->fill(0.0);
        }

        /*
         * Vector to zero
         */
        template <class ImplVector> void CVector3DBase<ImplVector>::fill(double value)
        {
            this->m_i = value;
            this->m_j = value;
            this->m_k = value;
        }

        /*
         * Element (return by reference)
         */
        template <class ImplVector> double &CVector3DBase<ImplVector>::getElement(int row)
        {
            switch (row)
            {
            case 0:
                return this->m_i;
            case 1:
                return this->m_j;
            case 2:
                return this->m_k;
            default:
                Q_ASSERT_X(true, "getElement", "Detected invalid index in 3D vector");
                throw std::range_error("Detected invalid index in 3D vector");
            }
        }

        /*
         * Element
         */
        template <class ImplVector> double CVector3DBase<ImplVector>::getElement(int row) const
        {
            return const_cast<CVector3DBase<ImplVector>*>(this)->getElement(row);
        }

        /*
         * Set given element
         */
        template <class ImplVector> void CVector3DBase<ImplVector>::setElement(int row, double value)
        {
            switch (row)
            {
            case 0:
                this->m_i = value;
                break;
            case 1:
                this->m_j = value;
                break;
            case 2:
                this->m_k = value;
                break;
            default:
                Q_ASSERT_X(true, "setElement", "Detected invalid index in 3D vector");
                throw std::range_error("Detected invalid index in 3D vector");
                break;
            }
        }

        /*
         * Cross product
         */
        template <class ImplVector> ImplVector CVector3DBase<ImplVector>::crossProduct(const ImplVector &other) const
        {
            ImplVector v(other);
            v.m_i = this->m_j * other.m_k - this->m_k * other.m_j;
            v.m_j = this->m_k * other.m_i - this->m_i * other.m_k;
            v.m_k = this->m_i * other.m_j - this->m_j * other.m_i;
            return v;
        }

        /*
         * Cross product
         */
        template <class ImplVector> double CVector3DBase<ImplVector>::dotProduct(const ImplVector &other) const
        {
            return this->m_i * other.m_i + this->m_j * other.m_j + this->m_k * other.m_k;
        }

        /*
         * Convert to matrix
         */
        template <class ImplVector> CMatrix3x1 CVector3DBase<ImplVector>::toMatrix3x1() const
        {
            return CMatrix3x1(this->m_i, this->m_j, this->m_k);
        }

        /*
         * Stream to DBus
         */
        template <class ImplVector> void CVector3DBase<ImplVector>::marshallToDbus(QDBusArgument &argument) const
        {
            argument << TupleConverter<CVector3DBase>::toTuple(*this);
        }

        /*
         * Stream from DBus
         */
        template <class ImplVector> void CVector3DBase<ImplVector>::unmarshallFromDbus(const QDBusArgument &argument)
        {
            argument >> TupleConverter<CVector3DBase>::toTuple(*this);
        }

        /*
         * getValueHash()
         */
        template <class ImplVector> uint CVector3DBase<ImplVector>::getValueHash() const
        {
            QList<uint> hashs;
            hashs << qHash(static_cast<long>(this->m_i));
            hashs << qHash(static_cast<long>(this->m_j));
            hashs << qHash(static_cast<long>(this->m_k));
            return BlackMisc::calculateHash(hashs, "CVector3DBase");
        }

        /*
         * Register metadata
         */
        template <class ImplVector> void CVector3DBase<ImplVector>::registerMetadata()
        {
            qRegisterMetaType<ImplVector>();
            qDBusRegisterMetaType<ImplVector>();
        }

        /*
         * To JSON
         */
        template <class ImplVector> QJsonObject CVector3DBase<ImplVector>::toJson() const
        {
            QJsonObject json;
            QJsonArray jsonArray;
            jsonArray.append(QJsonValue(this->m_i));
            jsonArray.append(QJsonValue(this->m_j));
            jsonArray.append(QJsonValue(this->m_k));
            json.insert("vector", QJsonValue(jsonArray));
            return json;
        }

        /*
         * From Json
         */
        template <class ImplVector> void CVector3DBase<ImplVector>::fromJson(const QJsonObject &json)
        {
            QJsonArray jsonArray = json.value("vector").toArray();
            this->m_i = jsonArray.at(0).toDouble();
            this->m_i = jsonArray.at(1).toDouble();
            this->m_i = jsonArray.at(2).toDouble();
        }

        /*
         * To JSON
         */
        template <class ImplMatrix, int Rows, int Columns> QJsonObject CMatrixBase<ImplMatrix, Rows, Columns>::toJson() const
        {
            QJsonObject json;
            QJsonArray jsonArray;
            foreach(double v, this->toList())
            {
                jsonArray.append(QJsonValue(v));
            }
            json.insert("matrix", QJsonValue(jsonArray));
            return json;
        }

        /*
         * From Json
         */
        template <class ImplMatrix, int Rows, int Columns> void CMatrixBase<ImplMatrix, Rows, Columns>::fromJson(const QJsonObject &json)
        {
            QJsonArray jsonArray = json.value("matrix").toArray();
            QList<double> list;
            for (auto i = jsonArray.begin(); i != jsonArray.end(); ++i)
            {
                list.append((*i).toDouble());
            }
            this->fromList(list);
        }


        // see here for the reason of thess forward instantiations
        // http://www.parashift.com/c++-faq/separate-template-class-defn-from-decl.html
        template class CVector3DBase<CVector3D>;
        template class CVector3DBase<BlackMisc::Geo::CCoordinateEcef>;
        template class CVector3DBase<BlackMisc::Geo::CCoordinateNed>;

    } // namespace
} // namespace