| 55 |  | inline bool equal(double e1, double e2) { | 
| 56 |  | return fabs(e1 - e2) < epsilon; | 
| 57 |  | } | 
| 58 | + |  | 
| 59 |  |  | 
| 60 |  | /** | 
| 61 |  | * @class Vector Vector.hpp "math/Vector.hpp" | 
| 65 |  | class Vector{ | 
| 66 |  | public: | 
| 67 |  |  | 
| 68 | + | typedef Real ElemType; | 
| 69 | + | typedef Real* ElemPoinerType; | 
| 70 | + |  | 
| 71 |  | /** default constructor */ | 
| 72 |  | inline Vector(){ | 
| 73 |  | for (unsigned int i = 0; i < Dim; i++) | 
| 97 |  | } | 
| 98 |  |  | 
| 99 |  | /** Constructs and initializes a Vector from an array */ | 
| 100 | < | inline Vector( double* v) { | 
| 100 | > | inline Vector( Real* v) { | 
| 101 |  | for (unsigned int i = 0; i < Dim; i++) | 
| 102 |  | data_[i] = v[i]; | 
| 103 |  | } | 
| 107 |  | * @return reference of ith element | 
| 108 |  | * @param i index | 
| 109 |  | */ | 
| 110 | < | inline double& operator[](unsigned int  i) { | 
| 110 | > | inline Real& operator[](unsigned int  i) { | 
| 111 |  | assert( i < Dim); | 
| 112 |  | return data_[i]; | 
| 113 |  | } | 
| 117 |  | * @return reference of ith element | 
| 118 |  | * @param i index | 
| 119 |  | */ | 
| 120 | < | inline double& operator()(unsigned int  i) { | 
| 120 | > | inline Real& operator()(unsigned int  i) { | 
| 121 |  | assert( i < Dim); | 
| 122 |  | return data_[i]; | 
| 123 |  | } | 
| 127 |  | * @return reference of ith element | 
| 128 |  | * @param i index | 
| 129 |  | */ | 
| 130 | < | inline  const double& operator[](unsigned int i) const { | 
| 130 | > | inline  const Real& operator[](unsigned int i) const { | 
| 131 |  | assert( i < Dim); | 
| 132 |  | return data_[i]; | 
| 133 |  | } | 
| 137 |  | * @return reference of ith element | 
| 138 |  | * @param i index | 
| 139 |  | */ | 
| 140 | < | inline  const double& operator()(unsigned int i) const { | 
| 140 | > | inline  const Real& operator()(unsigned int i) const { | 
| 141 |  | assert( i < Dim); | 
| 142 |  | return data_[i]; | 
| 143 |  | } | 
| 144 |  |  | 
| 145 | + | /** Returns the pointer of internal array */ | 
| 146 | + | Real* getArrayPointer() { | 
| 147 | + | return data_; | 
| 148 | + | } | 
| 149 | + |  | 
| 150 |  | /** | 
| 151 |  | * Tests if this vetor is equal to other vector | 
| 152 |  | * @return true if equal, otherwise return false | 
| 193 |  | * @param v1 the other vector | 
| 194 |  | */ | 
| 195 |  | inline void add( const Vector<Real, Dim>& v1 ) { | 
| 196 | < | for (unsigned int i = 0; i < Dim; i++) | 
| 197 | < | data_[i] += v1.data_[i]; | 
| 198 | < | } | 
| 196 | > | for (unsigned int i = 0; i < Dim; i++) | 
| 197 | > | data_[i] += v1.data_[i]; | 
| 198 | > | } | 
| 199 |  |  | 
| 200 |  | /** | 
| 201 |  | * Sets the value of this vector to the sum of v1 and v2 (*this = v1 + v2). | 
| 230 |  | * Sets the value of this vector to the scalar multiplication of itself (*this *= s). | 
| 231 |  | * @param s the scalar value | 
| 232 |  | */ | 
| 233 | < | inline void mul( double s ) { | 
| 233 | > | inline void mul( Real s ) { | 
| 234 |  | for (unsigned int i = 0; i < Dim; i++) | 
| 235 |  | data_[i] *= s; | 
| 236 |  | } | 
| 241 |  | * @param v1 the vector | 
| 242 |  | * @param s the scalar value | 
| 243 |  | */ | 
| 244 | < | inline void mul( const Vector<Real, Dim>& v1, double s) { | 
| 244 | > | inline void mul( const Vector<Real, Dim>& v1, Real s) { | 
| 245 |  | for (unsigned int i = 0; i < Dim; i++) | 
| 246 |  | data_[i] = s * v1.data_[i]; | 
| 247 |  | } | 
| 250 |  | * Sets the value of this vector to the scalar division of itself  (*this /= s ). | 
| 251 |  | * @param s the scalar value | 
| 252 |  | */ | 
| 253 | < | inline void div( double s) { | 
| 253 | > | inline void div( Real s) { | 
| 254 |  | for (unsigned int i = 0; i < Dim; i++) | 
| 255 |  | data_[i] /= s; | 
| 256 |  | } | 
| 260 |  | * @param v1 the source vector | 
| 261 |  | * @param s the scalar value | 
| 262 |  | */ | 
| 263 | < | inline void div( const Vector<Real, Dim>& v1, double s ) { | 
| 263 | > | inline void div( const Vector<Real, Dim>& v1, Real s ) { | 
| 264 |  | for (unsigned int i = 0; i < Dim; i++) | 
| 265 |  | data_[i] = v1.data_[i] / s; | 
| 266 |  | } | 
| 278 |  | } | 
| 279 |  |  | 
| 280 |  | /** @see #mul */ | 
| 281 | < | inline Vector<Real, Dim>& operator *=( double s) { | 
| 281 | > | inline Vector<Real, Dim>& operator *=( Real s) { | 
| 282 |  | mul(s); | 
| 283 |  | return *this; | 
| 284 |  | } | 
| 285 |  |  | 
| 286 |  | /** @see #div */ | 
| 287 | < | inline Vector<Real, Dim>& operator /=( double s ) { | 
| 287 | > | inline Vector<Real, Dim>& operator /=( Real s ) { | 
| 288 |  | div(s); | 
| 289 |  | return *this; | 
| 290 |  | } | 
| 293 |  | * Returns the length of this vector. | 
| 294 |  | * @return the length of this vector | 
| 295 |  | */ | 
| 296 | < | inline double length() { | 
| 297 | < | return sqrt(lengthSquared()); | 
| 296 | > | inline Real length() { | 
| 297 | > | return sqrt(lengthSquare()); | 
| 298 |  | } | 
| 299 |  |  | 
| 300 |  | /** | 
| 301 |  | * Returns the squared length of this vector. | 
| 302 |  | * @return the squared length of this vector | 
| 303 |  | */ | 
| 304 | < | inline double lengthSquare() { | 
| 304 | > | inline Real lengthSquare() { | 
| 305 |  | return dot(*this, *this); | 
| 306 |  | } | 
| 307 |  |  | 
| 308 |  | /** Normalizes this vector in place */ | 
| 309 |  | inline void normalize() { | 
| 310 | < | double len; | 
| 310 | > | Real len; | 
| 311 |  |  | 
| 312 |  | len = length(); | 
| 313 |  |  | 
| 321 |  | * Tests if this vector is normalized | 
| 322 |  | * @return true if this vector is normalized, otherwise return false | 
| 323 |  | */ | 
| 324 | < | inline bool isNormalized() const | 
| 325 | < | { | 
| 317 | < | return lengthSquare() == 1.0; | 
| 324 | > | inline bool isNormalized() { | 
| 325 | > | return equal(lengthSquare(), 1.0); | 
| 326 |  | } | 
| 327 |  |  | 
| 328 |  | protected: | 
| 329 | < | double data_[Dim]; | 
| 329 | > | Real data_[Dim]; | 
| 330 |  |  | 
| 331 |  | }; | 
| 332 |  |  | 
| 372 |  | * @param s the scalar value | 
| 373 |  | */ | 
| 374 |  | template<typename Real, unsigned int Dim> | 
| 375 | < | Vector<Real, Dim> operator * ( const Vector<Real, Dim>& v1, double s) { | 
| 375 | > | Vector<Real, Dim> operator * ( const Vector<Real, Dim>& v1, Real s) { | 
| 376 |  | Vector<Real, Dim> result; | 
| 377 |  | result.mul(v1,s); | 
| 378 |  | return result; | 
| 385 |  | * @param v1 the source vector | 
| 386 |  | */ | 
| 387 |  | template<typename Real, unsigned int Dim> | 
| 388 | < | Vector<Real, Dim> operator * ( double s, const Vector<Real, Dim>& v1 ) { | 
| 388 | > | Vector<Real, Dim> operator * ( Real s, const Vector<Real, Dim>& v1 ) { | 
| 389 |  | Vector<Real, Dim> result; | 
| 390 |  | result.mul(v1, s); | 
| 391 |  | return result; | 
| 398 |  | * @param s the scalar value | 
| 399 |  | */ | 
| 400 |  | template<typename Real, unsigned int Dim> | 
| 401 | < | Vector<Real, Dim> operator / ( const Vector<Real, Dim>& v1, double s) { | 
| 401 | > | Vector<Real, Dim> operator / ( const Vector<Real, Dim>& v1, Real s) { | 
| 402 |  | Vector<Real, Dim> result; | 
| 403 |  | result.div( v1,s); | 
| 404 |  | return result; | 
| 416 |  | tmp = 0; | 
| 417 |  |  | 
| 418 |  | for (unsigned int i = 0; i < Dim; i++) | 
| 419 | < | tmp += v1[i] + v2[i]; | 
| 419 | > | tmp += v1[i] * v2[i]; | 
| 420 |  |  | 
| 421 |  | return tmp; | 
| 422 |  | } | 
| 451 |  | template<typename Real, unsigned int Dim> | 
| 452 |  | std::ostream &operator<< ( std::ostream& o, const Vector<Real, Dim>& v) { | 
| 453 |  |  | 
| 454 | < | o << "[" << v[0] << ", " << v[1] << ", " << v[2] << "]" << endl; | 
| 454 | > | o << "[ "; | 
| 455 | > |  | 
| 456 | > | for (unsigned int i = 0 ; i< Dim; i++) { | 
| 457 | > | o << v[i]; | 
| 458 | > |  | 
| 459 | > | if (i  != Dim -1) { | 
| 460 | > | o<< ", "; | 
| 461 | > | } | 
| 462 | > | } | 
| 463 | > |  | 
| 464 | > | o << " ]"; | 
| 465 |  | return o; | 
| 466 |  | } | 
| 467 |  |  |