BRIX5

/*

    Inertial Measurement Unit Maths Library

    Copyright (C) 2013-2014  Samuel Cowen

    www.camelsoftware.com

    This program 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 program 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/>.

*/

#ifndef IMUMATH_VECTOR_HPP

#define IMUMATH_VECTOR_HPP

#include <string.h>

#include <stdint.h>

#include <math.h>

namespace imu

{

template <uint8_t N> class Vector

{

public:

    Vector()

    {

        memset(p_vec, 0, sizeof(double)*N);

    }

    Vector(double a)

    {

        memset(p_vec, 0, sizeof(double)*N);

        p_vec[0] = a;

    }

    Vector(double a, double b)

    {

        memset(p_vec, 0, sizeof(double)*N);

        p_vec[0] = a;

        p_vec[1] = b;

    }

    Vector(double a, double b, double c)

    {

        memset(p_vec, 0, sizeof(double)*N);

        p_vec[0] = a;

        p_vec[1] = b;

        p_vec[2] = c;

    }

    Vector(double a, double b, double c, double d)

    {

        memset(p_vec, 0, sizeof(double)*N);

        p_vec[0] = a;

        p_vec[1] = b;

        p_vec[2] = c;

        p_vec[3] = d;

    }

    Vector(const Vector<N> &v)

    {

        for (int x = 0; x < N; x++)

            p_vec[x] = v.p_vec[x];

    }

    ~Vector()

    {

    }

    uint8_t n() { return N; }

    double magnitude() const

    {

        double res = 0;

        int i;

        for(i = 0; i < N; i++)

            res += (p_vec[i] * p_vec[i]);

        if(isnan(res))

            return 0;

        if((fabs(res-1)) >= 0.000001) // Avoid a sqrt if possible.

            return sqrt(res);

        return 1;

    }

    void normalize()

    {

        double mag = magnitude();

        if (fabs(mag) <= 0.0001)

            return;

        int i;

        for(i = 0; i < N; i++)

            p_vec[i] = p_vec[i]/mag;

    }

    double dot(const Vector& v) const

    {

        double ret = 0;

        int i;

        for(i = 0; i < N; i++)

            ret += p_vec[i] * v.p_vec[i];

        return ret;

    }

    // The cross product is only valid for vectors with 3 dimensions,

    // with the exception of higher dimensional stuff that is beyond

    // the intended scope of this library.

    // Only a definition for N==3 is given below this class, using

    // cross() with another value for N will result in a link error.

    Vector cross(const Vector& v) const;

    Vector scale(double scalar) const

    {

        Vector ret;

        for(int i = 0; i < N; i++)

            ret.p_vec[i] = p_vec[i] * scalar;

        return ret;

    }

    Vector invert() const

    {

        Vector ret;

        for(int i = 0; i < N; i++)

            ret.p_vec[i] = -p_vec[i];

        return ret;

    }

    Vector& operator=(const Vector& v)

    {

        for (int x = 0; x < N; x++ )

            p_vec[x] = v.p_vec[x];

        return *this;

    }

    double& operator [](int n)

    {

        return p_vec[n];

    }

    double operator [](int n) const

    {

        return p_vec[n];

    }

    double& operator ()(int n)

    {

        return p_vec[n];

    }

    double operator ()(int n) const

    {

        return p_vec[n];

    }

    Vector operator+(const Vector& v) const

    {

        Vector ret;

        for(int i = 0; i < N; i++)

            ret.p_vec[i] = p_vec[i] + v.p_vec[i];

        return ret;

    }

    Vector operator-(const Vector& v) const

    {

        Vector ret;

        for(int i = 0; i < N; i++)

            ret.p_vec[i] = p_vec[i] - v.p_vec[i];

        return ret;

    }

    Vector operator * (double scalar) const

    {

        return scale(scalar);

    }

    Vector operator / (double scalar) const

    {

        Vector ret;

        for(int i = 0; i < N; i++)

            ret.p_vec[i] = p_vec[i] / scalar;

        return ret;

    }

    void toDegrees()

    {

        for(int i = 0; i < N; i++)

            p_vec[i] *= 57.2957795131; //180/pi

    }

    void toRadians()

    {

        for(int i = 0; i < N; i++)

            p_vec[i] *= 0.01745329251;  //pi/180

    }

    double& x() { return p_vec[0]; }

    double& y() { return p_vec[1]; }

    double& z() { return p_vec[2]; }

    double x() const { return p_vec[0]; }

    double y() const { return p_vec[1]; }

    double z() const { return p_vec[2]; }

private:

    double  p_vec[N];

};

template <>

inline Vector<3> Vector<3>::cross(const Vector& v) const

{

    return Vector(

        p_vec[1] * v.p_vec[2] - p_vec[2] * v.p_vec[1],

        p_vec[2] * v.p_vec[0] - p_vec[0] * v.p_vec[2],

        p_vec[0] * v.p_vec[1] - p_vec[1] * v.p_vec[0]

    );

}

} // namespace

#endif