00001
00002
00003
00004
00005
00006
00007 #ifndef _VECTORN_H
00008 #define _VECTORN_H
00009
00010 #include <boost/shared_ptr.hpp>
00011 #include <boost/shared_array.hpp>
00012 #include <Physsim/Types.h>
00013
00014 namespace Physsim {
00015
00016 class MatrixN;
00017
00019 class VectorN
00020 {
00021 public:
00022 VectorN();
00023 VectorN(unsigned N);
00024 VectorN(const VectorN& source);
00025 VectorN(unsigned N, const boost::shared_array<Real> array);
00026 virtual ~VectorN() {}
00027 virtual Real dot(const VectorN& v) const { return dot(*this, v); }
00028 static Real dot(const VectorN& v1, const VectorN& v2);
00029 void normalize() { operator*=(1.0/norm()); }
00030 static VectorN normalize(const VectorN& v);
00031 unsigned size() const { return _len; }
00032 static Real norm(const VectorN& v);
00033 Real norm() const { return norm(*this); }
00034 Real len_sq() const { return dot(*this, *this); }
00035 static VectorN one(unsigned N);
00036 boost::shared_ptr<MatrixN> outer_prod(const VectorN& v) const { return outer_prod(*this, v); }
00037 static boost::shared_ptr<MatrixN> outer_prod(const VectorN& v1, const VectorN& v2);
00038 void augment(const VectorN& v);
00039 void resize(unsigned N, bool preserve = false);
00040 void set_zero();
00041 void set_one();
00042 VectorN get_sub_vec(unsigned start_idx, unsigned end_idx) const;
00043 void set_sub_vec(unsigned start_idx, const VectorN& v);
00044 static VectorN zero(unsigned n);
00045 bool is_finite() const;
00046 void operator=(const VectorN* source);
00047 virtual void operator=(const VectorN& source) { VectorN::operator=(&source); }
00048 VectorN operator+(const VectorN& v) const;
00049 void operator+=(const VectorN& v);
00050 VectorN operator-(const VectorN& v) const;
00051 void operator-=(const VectorN& v);
00052 VectorN operator*(Real scalar) const;
00053 void operator*=(Real scalar);
00054 VectorN operator/(Real scalar) const;
00055 void operator/=(Real scalar) { operator*=(1.0/scalar); }
00056 VectorN operator-() const { return *this * (-1.0); }
00057 Real& operator[](const unsigned i) { return _data[i]; }
00058 Real operator[](const unsigned i) const { return _data[i]; }
00059 boost::shared_array<Real>& data() { return _data; }
00060 const boost::shared_array<Real>& data() const { return _data; }
00061 bool operator<(const VectorN& v) const;
00062 bool operator==(const VectorN& v) const;
00063 static bool epsilon_equals(const VectorN& v1, const VectorN& v2, Real epsilon);
00064 bool epsilon_equals(const VectorN& v, Real epsilon) const;
00065
00066 protected:
00067 boost::shared_array<Real> _data;
00068 unsigned _len;
00069 };
00070
00071 inline VectorN operator*(Real scalar, const VectorN& v) { return v * scalar; }
00072 std::ostream& operator<<(std::ostream& out, const VectorN& v);
00073 }
00074
00075 #endif
