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#include <cassert> | 
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#include <cmath> | 
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#include <iostream> | 
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namespace oopse { | 
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     * @class Vector Vector.hpp "math/Vector.hpp" | 
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     * @brief Fix length vector class | 
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     */ | 
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    template<typename Real, int Dim> | 
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    template<typename Real, unsigned int Dim> | 
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    class Vector{ | 
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        public: | 
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            } | 
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            /** @see #add */ | 
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            inline Vector<Real, Dim> operator +=( const Vector<Real, Dim>& v1 ) { | 
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            inline Vector<Real, Dim>& operator +=( const Vector<Real, Dim>& v1 ) { | 
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                add(v1); | 
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                return *this; | 
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            } | 
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            /** @see #sub */ | 
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            inline Vector<Real, Dim> operator -=( const Vector<Real, Dim>& v1 ) { | 
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            inline Vector<Real, Dim>& operator -=( const Vector<Real, Dim>& v1 ) { | 
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                sub(v1); | 
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                return *this; | 
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            } | 
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            /** @see #mul */ | 
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            inline Vector<Real, Dim> operator *=( double s) { | 
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            inline Vector<Real, Dim>& operator *=( double s) { | 
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                mul(s); | 
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                return *this; | 
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            } | 
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            /** @see #div */ | 
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            inline Vector<Real, Dim> operator /=( double s ) { | 
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            inline Vector<Real, Dim>& operator /=( double s ) { | 
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                div(s); | 
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                return *this; | 
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            } | 
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    }; | 
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    /** unary minus*/ | 
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    template<typename Real, int Dim>     | 
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    template<typename Real, unsigned int Dim>     | 
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    inline Vector<Real, Dim> operator -(const Vector<Real, Dim>& v1){ | 
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        Vector tmp(v1); | 
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        return tmp.negate(); | 
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     * @param v1 the first vector | 
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     * @param v2 the second vector | 
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     */    | 
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    template<typename Real, int Dim>     | 
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    template<typename Real, unsigned int Dim>     | 
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    inline Vector<Real, Dim> operator +(const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2) { | 
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        Vector<Real, Dim> result; | 
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         | 
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     * @param v1 the first vector | 
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     * @param v2 the second vector | 
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     */   | 
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    template<typename Real, int Dim>     | 
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    template<typename Real, unsigned int Dim>     | 
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    Vector<Real, Dim> operator -(const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2) { | 
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        Vector<Real, Dim> result; | 
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        result.sub(v1, v2); | 
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     * @param v1 the source vector | 
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     * @param s the scalar value | 
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     */  | 
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    template<typename Real, int Dim>                  | 
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    template<typename Real, unsigned int Dim>                  | 
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    Vector<Real, Dim> operator * ( const Vector<Real, Dim>& v1, double s) {        | 
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        Vector<Real, Dim> result; | 
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        result.mul(s, v1); | 
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     * @param s the scalar value | 
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     * @param v1 the source vector | 
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     */   | 
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    template<typename Real, int Dim> | 
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    template<typename Real, unsigned int Dim> | 
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    Vector<Real, Dim> operator * ( double s, const Vector<Real, Dim>& v1 ) { | 
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        Vector<Real, Dim> result; | 
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        result.mul(s, v1); | 
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     * @param v1 the source vector | 
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     * @param s the scalar value | 
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     */ | 
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    template<typename Real, int Dim>     | 
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    template<typename Real, unsigned int Dim>     | 
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    Vector<Real, Dim> operator / ( const Vector<Real, Dim>& v1, double s) {        | 
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        Vector<Real, Dim> result; | 
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        result.div( v1,s); | 
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     * @param s the scalar value | 
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     * @param v1 the source vector | 
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     */ | 
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    template<typename Real, int Dim>         | 
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    template<typename Real, unsigned int Dim>         | 
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    inline Vector<Real, Dim> operator /( double s, const Vector<Real, Dim>& v1 ) { | 
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        Vector<Real, Dim> result; | 
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        result.div( v1,s); | 
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    } | 
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    /** fuzzy comparson */ | 
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    template<typename Real, int Dim>         | 
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    template<typename Real, unsigned int Dim>         | 
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    inline bool epsilonEqual( const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2 ) { | 
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    } | 
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     * @param v2 second vector | 
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     * @return the dot product of v1 and v2 | 
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     */ | 
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    template<typename Real, int Dim>     | 
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    template<typename Real, unsigned int Dim>     | 
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    inline Real dot( const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2 ) { | 
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                Real tmp; | 
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                tmp = 0; | 
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     * @param v2 second vector | 
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     * @return the distance between v1 and v2 | 
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     */  | 
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    template<typename Real, int Dim>     | 
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    template<typename Real, unsigned int Dim>     | 
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    inline Real distance( const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2 ) { | 
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        Vector<Real, Dim> tempVector = v1 - v2; | 
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        return tempVector.length(); | 
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     * @param v2 second vector | 
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     * @return the squared distance between v1 and v2 | 
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     */ | 
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    template<typename Real, int Dim> | 
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    template<typename Real, unsigned int Dim> | 
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    inline Real distanceSquare( const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2 ) { | 
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        Vector<Real, Dim> tempVector = v1 - v2; | 
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        return tempVector.lengthSquare(); | 
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    /** | 
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     * Write to an output stream | 
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     */ | 
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< | 
    template<typename Real, int Dim> | 
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    template<typename Real, unsigned int Dim> | 
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    std::ostream &operator<< ( std::ostream& o, const Vector<Real, Dim>& v1 ) { | 
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        return o;         |