alposition3d.h

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/*
 * Copyright (c) 2012 Aldebaran Robotics. All rights reserved.
 * Use of this source code is governed by a BSD-style license that can be
 * found in the COPYING file.
 */


#pragma once
#ifndef _LIBALMATH_ALMATH_TYPES_ALPOSITION3D_H_
#define _LIBALMATH_ALMATH_TYPES_ALPOSITION3D_H_

#include <vector>
#include <almath/api.h>

namespace AL {
  namespace Math {

    struct ALMATH_API Position3D {
      float x;
      float y;
      float z;


      Position3D();


      explicit Position3D(float pInit);


      Position3D(
        float pX,
        float pY,
        float pZ);


      Position3D (const std::vector<float>& pFloats);

      inline Position3D operator+ (const Position3D& pPos2) const
      {
        return Position3D(x + pPos2.x, y + pPos2.y, z + pPos2.z);
      }

      inline Position3D operator- (const Position3D& pPos2) const
      {
        return Position3D(x - pPos2.x, y - pPos2.y, z - pPos2.z);
      }

      inline Position3D operator+ (void) const
      {
        return *this;
      }

      inline Position3D operator- () const
      {
        return Position3D(-x, -y, -z);
      }

      Position3D& operator+= (const Position3D& pPos2);

      Position3D& operator-= (const Position3D& pPos2);

      bool operator== (const Position3D& pPos2) const;

      bool operator!= (const Position3D& pPos2) const;

      Position3D operator* (float pVal) const;

      Position3D operator/ (float pVal) const;

      Position3D& operator*= (float pVal);

      Position3D& operator/= (float pVal);

      float distanceSquared(const Position3D& pPos2) const;

      float distance(const Position3D& pPos2) const;

      bool isNear(
        const Position3D& pPos2,
        const float&      pEpsilon=0.0001f) const;

      float norm() const;

      Position3D normalize() const;

      float dotProduct(const Position3D& pPos2) const;

      Position3D crossProduct(const Position3D& pPos2) const;

      void toVector(std::vector<float>& pReturnVector) const;
      std::vector<float> toVector(void) const;

      void writeToVector(std::vector<float>::iterator& pIt) const;

      bool isUnitVector(const float& pEpsilon=0.0001f) const;

      bool isOrthogonal(const Position3D& pPos, const float& pEpsilon=0.0001f) const;

    };

    ALMATH_API float distanceSquared(
      const Position3D& pPos1,
      const Position3D& pPos2);

    ALMATH_API float distance(
      const Position3D& pPos1,
      const Position3D& pPos2);

    ALMATH_API float norm(const Position3D& pPos);

    ALMATH_API Position3D normalize(const Position3D& pPos);

    ALMATH_API float dotProduct(
      const Position3D& pPos1,
      const Position3D& pPos2);

    ALMATH_API Position3D crossProduct(
      const Position3D& pPos1,
      const Position3D& pPos2);

    ALMATH_API void crossProduct(
      const Position3D& pPos1,
      const Position3D& pPos2,
      Position3D&       pRes);

    ALMATH_API bool isUnitVector(const Position3D& pPos,
                      const float& pEpsilon=0.0001f);

    ALMATH_API bool isOrthogonal(const Position3D& pPos1,
                      const Position3D& pPos2,
                      const float& pEpsilon=0.0001f);

  } // end namespace math
} // end namespace al
#endif  // _LIBALMATH_ALMATH_TYPES_ALPOSITION3D_H_