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LSST Data Management Base Package
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Vector3d.h
Go to the documentation of this file.
1/*
2 * This file is part of sphgeom.
3 *
4 * Developed for the LSST Data Management System.
5 * This product includes software developed by the LSST Project
6 * (http://www.lsst.org).
7 * See the COPYRIGHT file at the top-level directory of this distribution
8 * for details of code ownership.
9 *
10 * This software is dual licensed under the GNU General Public License and also
11 * under a 3-clause BSD license. Recipients may choose which of these licenses
12 * to use; please see the files gpl-3.0.txt and/or bsd_license.txt,
13 * respectively. If you choose the GPL option then the following text applies
14 * (but note that there is still no warranty even if you opt for BSD instead):
15 *
16 * This program is free software: you can redistribute it and/or modify
17 * it under the terms of the GNU General Public License as published by
18 * the Free Software Foundation, either version 3 of the License, or
19 * (at your option) any later version.
20 *
21 * This program is distributed in the hope that it will be useful,
22 * but WITHOUT ANY WARRANTY; without even the implied warranty of
23 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
24 * GNU General Public License for more details.
25 *
26 * You should have received a copy of the GNU General Public License
27 * along with this program. If not, see <http://www.gnu.org/licenses/>.
28 */
29
30#ifndef LSST_SPHGEOM_VECTOR3D_H_
31#define LSST_SPHGEOM_VECTOR3D_H_
32
35
36#include <cmath>
37#include <iosfwd>
38#include <limits>
39#include <stdexcept>
40
41
42namespace lsst {
43namespace sphgeom {
44
45// Forward declarations
46class Angle;
47class UnitVector3d;
48
49
51class Vector3d {
52public:
54 Vector3d() { _v[0] = 0.0; _v[1] = 0.0; _v[2] = 0.0; }
55
57 Vector3d(double x, double y, double z) { _v[0] = x; _v[1] = y; _v[2] = z; }
58
59 bool operator==(Vector3d const & v) const {
60 return _v[0] == v._v[0] && _v[1] == v._v[1] && _v[2] == v._v[2];
61 }
62
63 bool operator!=(Vector3d const & v) const {
64 return _v[0] != v._v[0] || _v[1] != v._v[1] || _v[2] != v._v[2];
65 }
66
68 double const * getData() const { return _v; }
69
71 double operator()(int i) const { return _v[i]; }
72
73 double x() const { return _v[0]; }
74
75 double y() const { return _v[1]; }
76
77 double z() const { return _v[2]; }
78
80 double dot(Vector3d const & v) const {
81 return _v[0] * v._v[0] + _v[1] * v._v[1] + _v[2] * v._v[2];
82 }
83
85 double getSquaredNorm() const { return dot(*this); }
86
88 double getNorm() const {
89 return std::sqrt(getSquaredNorm());
90 }
91
93 bool isZero() const { return *this == Vector3d(); }
94
100 double normalize();
101
103 bool isNormalized() const {
104 return std::fabs(1.0 - getSquaredNorm()) <= 1e-15;
105 }
106
108 Vector3d cross(Vector3d const & v) const {
109 return Vector3d(_v[1] * v._v[2] - _v[2] * v._v[1],
110 _v[2] * v._v[0] - _v[0] * v._v[2],
111 _v[0] * v._v[1] - _v[1] * v._v[0]);
112 }
113
116 return Vector3d(-_v[0],
117 -_v[1],
118 -_v[2]);
119 }
120
123 Vector3d operator*(double s) const {
124 return Vector3d(_v[0] * s,
125 _v[1] * s,
126 _v[2] * s);
127 }
128
131 Vector3d operator/(double s) const {
132 return Vector3d(_v[0] / s,
133 _v[1] / s,
134 _v[2] / s);
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
145 Vector3d operator-(Vector3d const & v) const {
146 return Vector3d(_v[0] - v._v[0],
147 _v[1] - v._v[1],
148 _v[2] - v._v[2]);
149 }
150
151 Vector3d & operator*=(double s) { *this = *this * s; return *this; }
152 Vector3d & operator/=(double s) { *this = *this / s; return *this; }
153 Vector3d & operator+=(Vector3d const & v) { *this = *this + v; return *this; }
154 Vector3d & operator-=(Vector3d const & v) { *this = *this - v; return *this; }
155
157 Vector3d cwiseProduct(Vector3d const & v) const {
158 return Vector3d(_v[0] * v._v[0],
159 _v[1] * v._v[1],
160 _v[2] * v._v[2]);
161 }
162
165 Vector3d rotatedAround(UnitVector3d const & k, Angle a) const;
166
167private:
168 double _v[3];
169};
170
171
172inline Vector3d operator*(double s, Vector3d const & v) { return v * s; }
173
174std::ostream & operator<<(std::ostream &, Vector3d const &);
175
176}} // namespace lsst::sphgeom
177
178#endif // LSST_SPHGEOM_VECTOR3D_H_
Angle represents an angle in radians.
Definition Angle.h:50
UnitVector3d is a unit vector in ℝ³ with components stored in double precision.
Vector3d is a vector in ℝ³ with components stored in double precision.
Definition Vector3d.h:51
Vector3d(double x, double y, double z)
This constructor creates a vector with the given components.
Definition Vector3d.h:57
Vector3d & operator*=(double s)
Definition Vector3d.h:151
Vector3d operator*(double s) const
The multiplication operator returns the component-wise product of this vector with scalar s.
Definition Vector3d.h:123
Vector3d & operator+=(Vector3d const &v)
Definition Vector3d.h:153
Vector3d cwiseProduct(Vector3d const &v) const
cwiseProduct returns the component-wise product of this vector and v.
Definition Vector3d.h:157
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:132
double dot(Vector3d const &v) const
dot returns the inner product of this vector and v.
Definition Vector3d.h:80
bool operator==(Vector3d const &v) const
Definition Vector3d.h:59
bool isNormalized() const
isNormalized returns true if this vectors norm is very close to 1.
Definition Vector3d.h:103
double const * getData() const
data returns a pointer to the 3 components of this vector.
Definition Vector3d.h:68
Vector3d & operator-=(Vector3d const &v)
Definition Vector3d.h:154
Vector3d operator-() const
The unary minus operator negates every component of this vector.
Definition Vector3d.h:115
double x() const
Definition Vector3d.h:73
Vector3d()
The default constructor creates a zero vector.
Definition Vector3d.h:54
double operator()(int i) const
The function call operator returns the i-th component of this vector.
Definition Vector3d.h:71
Vector3d & operator/=(double s)
Definition Vector3d.h:152
bool isZero() const
isZero returns true if all the components of this vector are zero.
Definition Vector3d.h:93
double y() const
Definition Vector3d.h:75
bool operator!=(Vector3d const &v) const
Definition Vector3d.h:63
double getNorm() const
getNorm returns the L2 norm of this vector.
Definition Vector3d.h:88
Vector3d operator-(Vector3d const &v) const
The subtraction operator returns the difference between this vector and v.
Definition Vector3d.h:145
Vector3d operator/(double s) const
The division operator returns the component-wise quotient of this vector with scalar s.
Definition Vector3d.h:131
double normalize()
normalize scales this vector to have unit norm and returns its norm prior to scaling.
Definition Vector3d.cc:48
Vector3d operator+(Vector3d const &v) const
The addition operator returns the sum of this vector and v.
Definition Vector3d.h:138
double z() const
Definition Vector3d.h:77
double getSquaredNorm() const
getSquaredNorm returns the inner product of this vector with itself.
Definition Vector3d.h:85
Vector3d cross(Vector3d const &v) const
cross returns the cross product of this vector and v.
Definition Vector3d.h:108
T fabs(T... args)
std::ostream & operator<<(std::ostream &, Angle const &)
Definition Angle.cc:41
Angle operator*(double a, Angle const &b)
Definition Angle.h:105
T sqrt(T... args)