Vector3.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: The world; all models are collected here
 * Author: Nate Koenig
 * Date: 3 Apr 2007
 */

#ifndef _VECTOR3_HH_
#define _VECTOR3_HH_

#include <math.h>
#include <iostream>
#include <fstream>

#include "gazebo/math/Helpers.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace math
  {

    class GAZEBO_VISIBLE Vector3
    {
      public: static const Vector3 Zero;

      public: static const Vector3 One;

      public: static const Vector3 UnitX;

      public: static const Vector3 UnitY;

      public: static const Vector3 UnitZ;

      public: Vector3();

      public: Vector3(const double &_x, const double &_y, const double &_z);

      public: Vector3(const Vector3 &_v);

      public: virtual ~Vector3();

      public: double GetSum() const;

      public: double Distance(const Vector3 &_pt) const;

      public: double Distance(double _x, double _y, double _z) const;

      public: double GetLength() const;

      public: double GetSquaredLength() const;

      public: Vector3 Normalize();

      public: Vector3 Round();

      public: Vector3 GetRounded() const;

      public: inline void Set(double _x = 0, double _y = 0 , double _z = 0)
              {
                this->x = _x;
                this->y = _y;
                this->z = _z;
              }

      public: Vector3 Cross(const Vector3 &_pt) const;

      public: double Dot(const Vector3 &_pt) const;

      public: Vector3 GetAbs() const;

      public: Vector3 GetPerpendicular() const;

      public: static Vector3 GetNormal(const Vector3 &_v1, const Vector3 &_v2,
                                       const Vector3 &_v3);

      public: double GetDistToLine(const Vector3 &_pt1, const Vector3 &_pt2);

      public: void SetToMax(const Vector3 &_v);

      public: void SetToMin(const Vector3 &_v);

      public: double GetMax() const;

      public: double GetMin() const;

      public: Vector3 &operator =(const Vector3 &_v);

      public: Vector3 &operator =(double _value);

      public: Vector3 operator+(const Vector3 &_v) const;

      public: const Vector3 &operator+=(const Vector3 &_v);

      public: inline Vector3 operator-() const
              {
                return Vector3(-this->x, -this->y, -this->z);
              }

      public: inline Vector3 operator-(const Vector3 &_pt) const
              {
                return Vector3(this->x - _pt.x,
                               this->y - _pt.y,
                               this->z - _pt.z);
              }

      public: const Vector3 &operator-=(const Vector3 &_pt);

      public: const Vector3 operator/(const Vector3 &_pt) const;

      public: const Vector3 &operator/=(const Vector3 &_pt);

      public: const Vector3 operator/(double _v) const;

      public: const Vector3 &operator/=(double _v);

      public: Vector3 operator*(const Vector3 &_p) const;

      public: const Vector3 &operator*=(const Vector3 &_v);

      public: friend inline Vector3 operator*(double _s,
                                              const Vector3 &_v)
      { return Vector3(_v.x * _s, _v.y * _s, _v.z * _s); }

      public: Vector3 operator*(double _v) const;

      public: const Vector3 &operator*=(double _v);

      public: bool operator ==(const Vector3 &_pt) const;

      public: bool operator!=(const Vector3 &_v) const;

      public: bool IsFinite() const;

      public: inline void Correct()
              {
                if (!std::isfinite(this->x))
                  this->x = 0;
                if (!std::isfinite(this->y))
                  this->y = 0;
                if (!std::isfinite(this->z))
                  this->z = 0;
              }

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

      public: void Round(int _precision);

      public: bool Equal(const Vector3 &_v) const;

      public: double x;

      public: double y;

      public: double z;

      public: friend std::ostream &operator<<(std::ostream &_out,
                                              const gazebo::math::Vector3 &_pt)
      {
        _out << precision(_pt.x, 6) << " " << precision(_pt.y, 6) << " "
             << precision(_pt.z, 6);
        return _out;
      }

      public: friend std::istream &operator>>(std::istream &_in,
                                              gazebo::math::Vector3 &_pt)
      {
        // Skip white spaces
        _in.setf(std::ios_base::skipws);
        _in >> _pt.x >> _pt.y >> _pt.z;
        return _in;
      }
    };
  }
}
#endif