185 lines
4.7 KiB
C++
185 lines
4.7 KiB
C++
// Inertial Measurement Unit Maths Library
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//
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// Copyright 2013-2021 Sam Cowen <samuel.cowen@camelsoftware.com>
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// Bug fixes and cleanups by Gé Vissers (gvissers@gmail.com)
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//
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// Permission is hereby granted, free of charge, to any person obtaining a
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// copy of this software and associated documentation files (the "Software"),
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// to deal in the Software without restriction, including without limitation
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// the rights to use, copy, modify, merge, publish, distribute, sublicense,
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// and/or sell copies of the Software, and to permit persons to whom the
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// Software is furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
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// OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
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// DEALINGS IN THE SOFTWARE.
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#ifndef IMUMATH_VECTOR_HPP
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#define IMUMATH_VECTOR_HPP
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#include <math.h>
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#include <stdint.h>
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#include <string.h>
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namespace imu {
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template <uint8_t N> class Vector {
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public:
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Vector() { memset(p_vec, 0, sizeof(double) * N); }
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Vector(double a) {
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memset(p_vec, 0, sizeof(double) * N);
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p_vec[0] = a;
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}
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Vector(double a, double b) {
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memset(p_vec, 0, sizeof(double) * N);
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p_vec[0] = a;
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p_vec[1] = b;
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}
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Vector(double a, double b, double c) {
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memset(p_vec, 0, sizeof(double) * N);
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p_vec[0] = a;
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p_vec[1] = b;
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p_vec[2] = c;
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}
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Vector(double a, double b, double c, double d) {
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memset(p_vec, 0, sizeof(double) * N);
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p_vec[0] = a;
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p_vec[1] = b;
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p_vec[2] = c;
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p_vec[3] = d;
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}
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Vector(const Vector<N> &v) {
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for (int x = 0; x < N; x++)
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p_vec[x] = v.p_vec[x];
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}
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~Vector() {}
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uint8_t n() { return N; }
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double magnitude() const {
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double res = 0;
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for (int i = 0; i < N; i++)
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res += p_vec[i] * p_vec[i];
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return sqrt(res);
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}
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void normalize() {
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double mag = magnitude();
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if (isnan(mag) || mag == 0.0)
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return;
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for (int i = 0; i < N; i++)
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p_vec[i] /= mag;
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}
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double dot(const Vector &v) const {
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double ret = 0;
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for (int i = 0; i < N; i++)
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ret += p_vec[i] * v.p_vec[i];
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return ret;
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}
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// The cross product is only valid for vectors with 3 dimensions,
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// with the exception of higher dimensional stuff that is beyond
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// the intended scope of this library.
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// Only a definition for N==3 is given below this class, using
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// cross() with another value for N will result in a link error.
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Vector cross(const Vector &v) const;
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Vector scale(double scalar) const {
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Vector ret;
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for (int i = 0; i < N; i++)
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ret.p_vec[i] = p_vec[i] * scalar;
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return ret;
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}
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Vector invert() const {
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Vector ret;
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for (int i = 0; i < N; i++)
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ret.p_vec[i] = -p_vec[i];
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return ret;
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}
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Vector &operator=(const Vector &v) {
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for (int x = 0; x < N; x++)
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p_vec[x] = v.p_vec[x];
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return *this;
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}
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double &operator[](int n) { return p_vec[n]; }
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double operator[](int n) const { return p_vec[n]; }
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double &operator()(int n) { return p_vec[n]; }
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double operator()(int n) const { return p_vec[n]; }
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Vector operator+(const Vector &v) const {
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Vector ret;
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for (int i = 0; i < N; i++)
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ret.p_vec[i] = p_vec[i] + v.p_vec[i];
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return ret;
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}
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Vector operator-(const Vector &v) const {
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Vector ret;
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for (int i = 0; i < N; i++)
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ret.p_vec[i] = p_vec[i] - v.p_vec[i];
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return ret;
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}
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Vector operator*(double scalar) const { return scale(scalar); }
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Vector operator/(double scalar) const {
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Vector ret;
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for (int i = 0; i < N; i++)
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ret.p_vec[i] = p_vec[i] / scalar;
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return ret;
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}
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void toDegrees() {
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for (int i = 0; i < N; i++)
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p_vec[i] *= 57.2957795131; // 180/pi
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}
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void toRadians() {
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for (int i = 0; i < N; i++)
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p_vec[i] *= 0.01745329251; // pi/180
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}
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double &x() { return p_vec[0]; }
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double &y() { return p_vec[1]; }
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double &z() { return p_vec[2]; }
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double x() const { return p_vec[0]; }
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double y() const { return p_vec[1]; }
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double z() const { return p_vec[2]; }
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private:
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double p_vec[N];
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};
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template <> inline Vector<3> Vector<3>::cross(const Vector &v) const {
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return Vector(p_vec[1] * v.p_vec[2] - p_vec[2] * v.p_vec[1],
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p_vec[2] * v.p_vec[0] - p_vec[0] * v.p_vec[2],
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p_vec[0] * v.p_vec[1] - p_vec[1] * v.p_vec[0]);
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}
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} // namespace imu
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#endif
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