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88 lines
1.5 KiB
88 lines
1.5 KiB
/** |
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* @file Vector3.hpp |
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* |
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* 3D vector class. |
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* |
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* @author James Goppert <james.goppert@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> |
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class Vector; |
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template<typename Type> |
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class Dcm; |
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template<typename Type> |
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class Vector3 : public Vector<Type, 3> |
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{ |
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public: |
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typedef Matrix<Type, 3, 1> Matrix31; |
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virtual ~Vector3() {}; |
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Vector3() : |
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Vector<Type, 3>() |
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{ |
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} |
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Vector3(const Matrix31 & other) : |
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Vector<Type, 3>(other) |
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{ |
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} |
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Vector3(const Type *data_) : |
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Vector<Type, 3>(data_) |
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{ |
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} |
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Vector3(Type x, Type y, Type z) : Vector<Type, 3>() |
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{ |
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Vector3 &v(*this); |
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v(0) = x; |
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v(1) = y; |
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v(2) = z; |
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} |
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Vector3 cross(const Matrix31 & b) const { |
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const Vector3 &a(*this); |
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Vector3 c; |
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c(0) = a(1)*b(2,0) - a(2)*b(1,0); |
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c(1) = -a(0)*b(2,0) + a(2)*b(0,0); |
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c(2) = a(0)*b(1,0) - a(1)*b(0,0); |
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return c; |
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} |
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Vector3 operator%(const Matrix31 & b) const { |
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return (*this).cross(b); |
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} |
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Dcm<Type> hat() const { // inverse to Dcm.vee() operation |
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const Vector3 &v(*this); |
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Dcm<Type> A; |
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A(0,0) = 0; |
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A(0,1) = -v(2); |
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A(0,2) = v(1); |
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A(1,0) = v(2); |
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A(1,1) = 0; |
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A(1,2) = -v(0); |
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A(2,0) = -v(1); |
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A(2,1) = v(0); |
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A(2,2) = 0; |
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return A; |
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} |
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}; |
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typedef Vector3<float> Vector3f; |
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} // namespace matrix |
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/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
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