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LSST Data Management Base Package
Vector3d.h
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22 
23 #ifndef LSST_SPHGEOM_VECTOR3D_H_
24 #define LSST_SPHGEOM_VECTOR3D_H_
25 
28 
29 #include <cmath>
30 #include <iosfwd>
31 #include <limits>
32 #include <stdexcept>
33 
34 
35 namespace lsst {
36 namespace sphgeom {
37 
38 // Forward declarations
39 class Angle;
40 class UnitVector3d;
41 
42 
44 class Vector3d {
45 public:
47  Vector3d() { _v[0] = 0.0; _v[1] = 0.0; _v[2] = 0.0; }
48 
50  Vector3d(double x, double y, double z) { _v[0] = x; _v[1] = y; _v[2] = z; }
51 
52  bool operator==(Vector3d const & v) const {
53  return _v[0] == v._v[0] && _v[1] == v._v[1] && _v[2] == v._v[2];
54  }
55 
56  bool operator!=(Vector3d const & v) const {
57  return _v[0] != v._v[0] || _v[1] != v._v[1] || _v[2] != v._v[2];
58  }
59 
61  double const * getData() const { return _v; }
62 
64  double operator()(int i) const { return _v[i]; }
65 
66  double x() const { return _v[0]; }
67 
68  double y() const { return _v[1]; }
69 
70  double z() const { return _v[2]; }
71 
73  double dot(Vector3d const & v) const {
74  return _v[0] * v._v[0] + _v[1] * v._v[1] + _v[2] * v._v[2];
75  }
76 
78  double getSquaredNorm() const { return dot(*this); }
79 
81  double getNorm() const {
82  return std::sqrt(getSquaredNorm());
83  }
84 
86  bool isZero() const { return *this == Vector3d(); }
87 
93  double normalize();
94 
96  bool isNormalized() const {
97  return std::fabs(1.0 - getSquaredNorm()) <= 1e-15;
98  }
99 
101  Vector3d cross(Vector3d const & v) const {
102  return Vector3d(_v[1] * v._v[2] - _v[2] * v._v[1],
103  _v[2] * v._v[0] - _v[0] * v._v[2],
104  _v[0] * v._v[1] - _v[1] * v._v[0]);
105  }
106 
108  Vector3d operator-() const {
109  return Vector3d(-_v[0],
110  -_v[1],
111  -_v[2]);
112  }
113 
116  Vector3d operator*(double s) const {
117  return Vector3d(_v[0] * s,
118  _v[1] * s,
119  _v[2] * s);
120  }
121 
124  Vector3d operator/(double s) const {
125  return Vector3d(_v[0] / s,
126  _v[1] / s,
127  _v[2] / s);
128  }
129 
131  Vector3d operator+(Vector3d const & v) const {
132  return Vector3d(_v[0] + v._v[0],
133  _v[1] + v._v[1],
134  _v[2] + v._v[2]);
135  }
136 
138  Vector3d operator-(Vector3d const & v) const {
139  return Vector3d(_v[0] - v._v[0],
140  _v[1] - v._v[1],
141  _v[2] - v._v[2]);
142  }
143 
144  Vector3d & operator*=(double s) { *this = *this * s; return *this; }
145  Vector3d & operator/=(double s) { *this = *this / s; return *this; }
146  Vector3d & operator+=(Vector3d const & v) { *this = *this + v; return *this; }
147  Vector3d & operator-=(Vector3d const & v) { *this = *this - v; return *this; }
148 
150  Vector3d cwiseProduct(Vector3d const & v) const {
151  return Vector3d(_v[0] * v._v[0],
152  _v[1] * v._v[1],
153  _v[2] * v._v[2]);
154  }
155 
158  Vector3d rotatedAround(UnitVector3d const & k, Angle a) const;
159 
160 private:
161  double _v[3];
162 };
163 
164 
165 inline Vector3d operator*(double s, Vector3d const & v) { return v * s; }
166 
167 std::ostream & operator<<(std::ostream &, Vector3d const &);
168 
169 }} // namespace lsst::sphgeom
170 
171 #endif // LSST_SPHGEOM_VECTOR3D_H_
table::Key< int > a
Angle represents an angle in radians.
Definition: Angle.h:43
UnitVector3d is a unit vector in ℝ³ with components stored in double precision.
Definition: UnitVector3d.h:55
Vector3d is a vector in ℝ³ with components stored in double precision.
Definition: Vector3d.h:44
Vector3d(double x, double y, double z)
This constructor creates a vector with the given components.
Definition: Vector3d.h:50
Vector3d operator*(double s) const
The multiplication operator returns the component-wise product of this vector with scalar s.
Definition: Vector3d.h:116
Vector3d cwiseProduct(Vector3d const &v) const
cwiseProduct returns the component-wise product of this vector and v.
Definition: Vector3d.h:150
Vector3d rotatedAround(UnitVector3d const &k, Angle a) const
rotatedAround returns a copy of this vector, rotated around the unit vector k by angle a according to...
Definition: Vector3d.cc:125
double dot(Vector3d const &v) const
dot returns the inner product of this vector and v.
Definition: Vector3d.h:73
bool operator==(Vector3d const &v) const
Definition: Vector3d.h:52
bool isNormalized() const
isNormalized returns true if this vectors norm is very close to 1.
Definition: Vector3d.h:96
Vector3d operator-() const
The unary minus operator negates every component of this vector.
Definition: Vector3d.h:108
double x() const
Definition: Vector3d.h:66
Vector3d()
The default constructor creates a zero vector.
Definition: Vector3d.h:47
double operator()(int i) const
The function call operator returns the i-th component of this vector.
Definition: Vector3d.h:64
bool isZero() const
isZero returns true if all the components of this vector are zero.
Definition: Vector3d.h:86
double y() const
Definition: Vector3d.h:68
bool operator!=(Vector3d const &v) const
Definition: Vector3d.h:56
Vector3d & operator/=(double s)
Definition: Vector3d.h:145
double getNorm() const
getNorm returns the L2 norm of this vector.
Definition: Vector3d.h:81
Vector3d operator-(Vector3d const &v) const
The subtraction operator returns the difference between this vector and v.
Definition: Vector3d.h:138
Vector3d operator/(double s) const
The division operator returns the component-wise quotient of this vector with scalar s.
Definition: Vector3d.h:124
double normalize()
normalize scales this vector to have unit norm and returns its norm prior to scaling.
Definition: Vector3d.cc:41
Vector3d & operator-=(Vector3d const &v)
Definition: Vector3d.h:147
Vector3d operator+(Vector3d const &v) const
The addition operator returns the sum of this vector and v.
Definition: Vector3d.h:131
double z() const
Definition: Vector3d.h:70
double getSquaredNorm() const
getSquaredNorm returns the inner product of this vector with itself.
Definition: Vector3d.h:78
double const * getData() const
data returns a pointer to the 3 components of this vector.
Definition: Vector3d.h:61
Vector3d & operator+=(Vector3d const &v)
Definition: Vector3d.h:146
Vector3d & operator*=(double s)
Definition: Vector3d.h:144
Vector3d cross(Vector3d const &v) const
cross returns the cross product of this vector and v.
Definition: Vector3d.h:101
T fabs(T... args)
lsst::geom::Angle Angle
Definition: misc.h:33
std::ostream & operator<<(std::ostream &, Angle const &)
Definition: Angle.cc:34
Angle operator*(double a, Angle const &b)
Definition: Angle.h:98
A base class for image defects.
T sqrt(T... args)