alposition3d.h

/*
 * Copyright (c) 2012 Aldebaran Robotics. All rights reserved.
 * Use of this source code is governed by a BSD-style license that can be
 * found in the COPYING file.
 */


#pragma once
#ifndef _LIBALMATH_ALMATH_TYPES_ALPOSITION3D_H_
#define _LIBALMATH_ALMATH_TYPES_ALPOSITION3D_H_

#include <vector>

namespace AL {
  namespace Math {

    struct Position3D {
      float x;
      float y;
      float z;



      Position3D();





      explicit Position3D(float pInit);






      Position3D(
        float pX,
        float pY,
        float pZ);







      Position3D (const std::vector<float>& pFloats);

      Position3D operator+ (const Position3D& pPos2) const;

      Position3D operator- (const Position3D& pPos2) const;

      Position3D operator+ () const;

      Position3D operator- () const;

      Position3D& operator+= (const Position3D& pPos2);

      Position3D& operator-= (const Position3D& pPos2);

      bool operator== (const Position3D& pPos2) const;

      bool operator!= (const Position3D& pPos2) const;

      Position3D operator* (float pVal) const;

      Position3D operator/ (float pVal) const;

      Position3D& operator*= (float pVal);

      Position3D& operator/= (float pVal);

      float distanceSquared(const Position3D& pPos2) const;

      float distance(const Position3D& pPos2) const;

      bool isNear(
        const Position3D& pPos2,
        const float&      pEpsilon=0.0001f) const;

      float norm() const;

      Position3D normalize() const;

      float dotProduct(const Position3D& pPos2) const;

      Position3D crossProduct(const Position3D& pPos2) const;

      std::vector<float> toVector() const;
    };

    // TODO : Need this ?
    Position3D operator* (
      const float       pM,
      const Position3D& pPos1);

    // Does it make sense to define 2.0 / Position3D() ??
    Position3D operator/ (
      const float       pM,
      const Position3D& pPos1);

    float distanceSquared(
      const Position3D& pPos1,
      const Position3D& pPos2);

    float distance(
      const Position3D& pPos1,
      const Position3D& pPos2);

    float norm(const Position3D& pPos);

    Position3D normalize(const Position3D& pPos);

    float dotProduct(
      const Position3D& pPos1,
      const Position3D& pPos2);

    Position3D crossProduct(
      const Position3D& pPos1,
      const Position3D& pPos2);

    void crossProduct(
      const Position3D& pPos1,
      const Position3D& pPos2,
      Position3D&       pRes);

  } // end namespace math
} // end namespace al
#endif  // _LIBALMATH_ALMATH_TYPES_ALPOSITION3D_H_