Motion Strategy Library

00001 //----------------------------------------------------------------------
00002 //               The Motion Strategy Library (MSL)
00003 //----------------------------------------------------------------------
00004 //
00005 // Copyright (c) University of Illinois and Steven M. LaValle.     
00006 // All Rights Reserved.
00007 //
00008 // Permission to use, copy, and distribute this software and its
00009 // documentation is hereby granted free of charge, provided that
00010 // (1) it is not a component of a commercial product, and
00011 // (2) this notice appears in all copies of the software and
00012 //     related documentation.
00013 //
00014 // The University of Illinois and the author make no representations
00015 // about the suitability or fitness of this software for any purpose.
00016 // It is provided "as is" without express or implied warranty.
00017 //----------------------------------------------------------------------
00018 
00019 #ifndef MSL_VECTOR_H
00020 #define MSL_VECTOR_H
00021 
00022 
00023 #include <fstream>
00024 #include <iostream>
00025 #include <list>
00026 #include <vector>
00027 using namespace std;
00028 
00029 
00030 #include "mslio.h"
00031 
00032 void error_handler(int i, const char* s);
00033 
00034 class MSLVector
00035 {
00036   friend class MSLMatrix;
00037 
00038   double* v;
00039   int d;
00040 
00041   void check_dimensions(const MSLVector&) const;
00042  
00043 public:
00044 
00045   MSLVector(); 
00046   MSLVector(int d); 
00047   MSLVector(double a, double b);
00048   MSLVector(double a, double b, double c);
00049   MSLVector(const MSLVector& w, int prec);
00050   MSLVector(const MSLVector&);
00051   ~MSLVector(); 
00052   MSLVector& operator=(const MSLVector&);
00053 
00054   int    dim()    const { return d; }
00055   double& operator[](int i);
00056   double  operator[](int) const;
00057   double  hcoord(int i) const { return (i<d) ? (*this)[i] : 1; }
00058   double  coord(int i)  const { return (*this)[i]; }
00059   double sqr_length() const;
00060   double length() const;
00061   MSLVector norm() const { return *this/length(); }
00062   double angle(const MSLVector& w) const; 
00063   MSLVector rotate90() const;
00064   MSLVector rotate(double a) const;
00065   MSLVector& operator+=(const MSLVector&);
00066   MSLVector& operator-=(const MSLVector&);
00067   MSLVector  operator+(const MSLVector& v1) const;
00068   MSLVector  operator-(const MSLVector& v1) const;
00069   double  operator*(const MSLVector& v1) const;
00070   MSLVector  operator*(double r)        const;
00071   MSLVector  operator-() const;
00072   MSLVector  operator/(double)        const;
00073   bool     operator==(const MSLVector& w) const;
00074   bool     operator!=(const MSLVector& w)  const { return !(*this == w); }
00075   friend MSLVector operator*(double f, const MSLVector& v) { return v *f; }
00076   void print(ostream& O);
00077   void print() { print(cout); }
00078   void read(istream& I);
00079   void read() { read(cin); }
00080   friend ostream& operator<<(ostream& O, const MSLVector& v);
00081   friend istream& operator>>(istream& I, MSLVector& v);
00082 };
00083 
00084 ostream& operator<<(ostream& O, const MSLVector& v);
00085 istream& operator>>(istream& I, MSLVector& v);
00086 
00087 #endif
vector.h
