Vector4.hh

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/*
 * Copyright (C) 2012-2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: 4 tuple
 * Author: Nate Koenig
 * Date: 19 Aug 2008
 */

#ifndef _VECTOR4_HH_
#define _VECTOR4_HH_

#include <iostream>
#include <fstream>
#include "gazebo/math/Matrix4.hh"

namespace gazebo
{
  namespace math
  {

    class Vector4
    {
      public: Vector4();

      public: Vector4(const double &_x, const double &_y, const double &_z,
                      const double &_w);

      public: Vector4(const Vector4 &_v);


      public: virtual ~Vector4();

      public: double Distance(const Vector4 &_pt) const;

      public: double GetLength() const;

      public: double GetSquaredLength() const;

      public: void Normalize();

      public: void Set(double _x = 0, double _y = 0 , double _z = 0,
                       double _w = 0);

      public: Vector4 &operator =(const Vector4 &_v);

      public: Vector4 &operator =(double _value);

      public: Vector4 operator+(const Vector4 &_v) const;

      public: const Vector4 &operator+=(const Vector4 &_v);

      public: Vector4 operator-(const Vector4 &_v) const;

      public: const Vector4 &operator-=(const Vector4 &_v);

      public: const Vector4 operator/(const Vector4 &_v) const;

      public: const Vector4 &operator/=(const Vector4 &_v);

      public: const Vector4 operator/(double _v) const;

      public: const Vector4 &operator/=(double _v);

      public: const Vector4 operator*(const Vector4 &_pt) const;

      public: const Vector4 operator*(const Matrix4 &_m) const;

      public: const Vector4 &operator*=(const Vector4 &_pt);

      public: const Vector4 operator*(double _v) const;

      public: const Vector4 &operator*=(double _v);

      public: bool operator ==(const Vector4 &_pt) const;

      public: bool operator!=(const Vector4 &_pt) const;

      public: bool IsFinite() const;

      public: double operator[](unsigned int _index) const;

      public: double x;

      public: double y;

      public: double z;

      public: double w;

      public: friend std::ostream &operator<<(std::ostream &_out,
                  const gazebo::math::Vector4 &_pt)
      {
        _out << _pt.x << " " << _pt.y << " " << _pt.z << " " << _pt.w;
        return _out;
      }

      public: friend std::istream &operator >> (std::istream &_in,
                  gazebo::math::Vector4 &_pt)
      {
        // Skip white spaces
        _in.setf(std::ios_base::skipws);
        _in >> _pt.x >> _pt.y >> _pt.z >> _pt.w;
        return _in;
      }
    };
  }
}
#endif