Point Cloud Library (PCL)  1.14.1-dev
vector.hpp
1 /*
2 Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
3 All rights reserved.
4 
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6 are permitted provided that the following conditions are met:
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9 conditions and the following disclaimer. Redistributions in binary form must reproduce
10 the above copyright notice, this list of conditions and the following disclaimer
11 in the documentation and/or other materials provided with the distribution.
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14 may be used to endorse or promote products derived from this software without specific
15 prior written permission.
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17 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
18 EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
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22 TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
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27 */
28 
29 #ifndef __VECTORIMPL_HPP
30 #define __VECTORIMPL_HPP
31 
32 ////////////
33 // Vector //
34 ////////////
35 namespace pcl
36 {
37  namespace poisson
38  {
39 
40 
41  template<class T>
43  {
44  m_N = 0;
45  m_pV = 0;
46  }
47  template<class T>
49  {
50  m_N = 0;
51  m_pV = 0;
52  Resize(V.m_N);
53  memcpy( m_pV, V.m_pV, m_N*sizeof(T) );
54  }
55  template<class T>
56  Vector<T>::Vector( std::size_t N )
57  {
58  m_N=0;
59  m_pV=0;
60  Resize(N);
61  }
62  template<class T>
63  void Vector<T>::Resize( std::size_t N )
64  {
65  if(m_N!=N){
66  if(m_N){delete[] m_pV;}
67  m_pV=NULL;
68  m_N = N;
69  if(N){m_pV = new T[N];}
70  }
71  if (m_pV) {
72  memset( m_pV, 0, N*sizeof(T) );
73  }
74  }
75  template<class T>
76  Vector<T>::Vector( std::size_t N, T* pV )
77  {
78  Resize(N);
79  memcpy( m_pV, pV, N*sizeof(T) );
80  }
81  template<class T>
82  Vector<T>::~Vector(){Resize(0);}
83  template<class T>
85  {
86  Resize(V.m_N);
87  memcpy( m_pV, V.m_pV, m_N*sizeof(T) );
88  return *this;
89  }
90  template<class T>
91  std::size_t Vector<T>::Dimensions() const{return m_N;}
92  template<class T>
93  void Vector<T>::SetZero(void){for (std::size_t i=0; i<m_N; i++){m_pV[i] = T(0);}}
94  template<class T>
95  const T& Vector<T>::operator () (std::size_t i) const
96  {
97  Assert( i < m_N );
98  return m_pV[i];
99  }
100  template<class T>
101  T& Vector<T>::operator () (std::size_t i)
102  {
103  return m_pV[i];
104  }
105  template<class T>
106  const T& Vector<T>::operator [] (std::size_t i) const
107  {
108  return m_pV[i];
109  }
110  template<class T>
111  T& Vector<T>::operator [] (std::size_t i)
112  {
113  return m_pV[i];
114  }
115  template<class T>
117  {
118  Vector V(*this);
119  for (std::size_t i=0; i<m_N; i++)
120  V.m_pV[i] *= A;
121  return V;
122  }
123  template<class T>
125  {
126  for (std::size_t i=0; i<m_N; i++)
127  m_pV[i] *= A;
128  return *this;
129  }
130  template<class T>
132  {
133  Vector V(*this);
134  for (std::size_t i=0; i<m_N; i++)
135  V.m_pV[i] /= A;
136  return V;
137  }
138  template<class T>
140  {
141  for (std::size_t i=0; i<m_N; i++)
142  m_pV[i] /= A;
143  return *this;
144  }
145  template<class T>
147  {
148  Vector<T> V(m_N);
149  for (std::size_t i=0; i<m_N; i++)
150  V.m_pV[i] = m_pV[i] + V0.m_pV[i];
151 
152  return V;
153  }
154  template<class T>
155  Vector<T>& Vector<T>::AddScaled(const Vector<T>& V,const T& scale)
156  {
157  for (std::size_t i=0; i<m_N; i++)
158  m_pV[i] += V.m_pV[i]*scale;
159 
160  return *this;
161  }
162  template<class T>
164  {
165  for (std::size_t i=0; i<m_N; i++)
166  m_pV[i] -= V.m_pV[i]*scale;
167 
168  return *this;
169  }
170  template<class T>
171  void Vector<T>::Add(const Vector<T>& V1,const T& scale1,const Vector<T>& V2,const T& scale2,Vector<T>& Out){
172  for (std::size_t i=0; i<V1.m_N; i++)
173  Out.m_pV[i]=V1.m_pV[i]*scale1+V2.m_pV[i]*scale2;
174  }
175  template<class T>
176  void Vector<T>::Add(const Vector<T>& V1,const T& scale1,const Vector<T>& V2,Vector<T>& Out){
177  for (std::size_t i=0; i<V1.m_N; i++)
178  Out.m_pV[i]=V1.m_pV[i]*scale1+V2.m_pV[i];
179  }
180  template<class T>
182  {
183  for (std::size_t i=0; i<m_N; i++)
184  m_pV[i] += V.m_pV[i];
185 
186  return *this;
187  }
188  template<class T>
190  {
191  Vector<T> V(m_N);
192  for (std::size_t i=0; i<m_N; i++)
193  V.m_pV[i] = m_pV[i] - V0.m_pV[i];
194 
195  return V;
196  }
197  template<class T>
199  {
200  Vector<T> V(m_N);
201 
202  for (std::size_t i=0; i<m_N; i++)
203  V.m_pV[i] = -m_pV[i];
204 
205  return V;
206  }
207  template<class T>
209  {
210  for (std::size_t i=0; i<m_N; i++)
211  m_pV[i] -= V.m_pV[i];
212 
213  return *this;
214  }
215  template<class T>
216  T Vector<T>::Norm( std::size_t Ln ) const
217  {
218  T N = T();
219  for (std::size_t i = 0; i<m_N; i++)
220  N += pow(m_pV[i], (T)Ln);
221  return pow(N, (T)1.0/Ln);
222  }
223  template<class T>
225  {
226  T N = 1.0f/Norm(2);
227  for (std::size_t i = 0; i<m_N; i++)
228  m_pV[i] *= N;
229  }
230  template<class T>
232  {
233  T N = T();
234  for (std::size_t i = 0; i<m_N; i++)
235  N += m_pV[i]*m_pV[i];
236  return sqrt(N);
237  }
238  template<class T>
239  T Vector<T>::Dot( const Vector<T>& V ) const
240  {
241  T V0 = T();
242  for (std::size_t i=0; i<m_N; i++)
243  V0 += m_pV[i]*V.m_pV[i];
244 
245  return V0;
246  }
247 
248  template< class T >
249  bool Vector< T >::read( const char* fileName )
250  {
251  FILE* fp = fopen( fileName , "rb" );
252  if( !fp ) return false;
253  bool ret = read( fp );
254  fclose( fp );
255  return ret;
256  }
257  template< class T >
258  bool Vector< T >::write( const char* fileName ) const
259  {
260  FILE* fp = fopen( fileName , "wb" );
261  if( !fp ) return false;
262  bool ret = write( fp );
263  fclose( fp );
264  return ret;
265  }
266  template< class T >
267  bool Vector< T >::read( FILE* fp )
268  {
269  int d;
270  if( fread( &d , sizeof(int) , 1 , fp )!=1 ) return false;
271  Resize( d );
272  if( fread( &(*this)[0] , sizeof( T ) , d , fp )!=d ) return false;
273  return true;
274  }
275  template< class T >
276  bool Vector< T >::write( FILE* fp ) const
277  {
278  if( fwrite( &m_N , sizeof( int ) , 1 , fp )!=1 ) return false;
279  if( fwrite( &(*this)[0] , sizeof( T ) , m_N , fp )!=m_N ) return false;
280  return true;
281  }
282 
283 
284  /////////////
285  // NVector //
286  /////////////
287  template<class T,int Dim>
289  {
290  m_N = 0;
291  m_pV = 0;
292  }
293  template<class T,int Dim>
295  {
296  m_N = 0;
297  m_pV = 0;
298  Resize(V.m_N);
299  memcpy( m_pV, V.m_pV, m_N*sizeof(T)*Dim );
300  }
301  template<class T,int Dim>
302  NVector<T,Dim>::NVector( std::size_t N )
303  {
304  m_N=0;
305  m_pV=0;
306  Resize(N);
307  }
308  template<class T,int Dim>
309  void NVector<T,Dim>::Resize( std::size_t N )
310  {
311  if(m_N!=N){
312  if(m_N){delete[] m_pV;}
313  m_pV=NULL;
314  m_N = N;
315  if(N){m_pV = new T[Dim*N];}
316  }
317  memset( m_pV, 0, N*sizeof(T)*Dim );
318  }
319  template<class T,int Dim>
320  NVector<T,Dim>::NVector( std::size_t N, T* pV )
321  {
322  Resize(N);
323  memcpy( m_pV, pV, N*sizeof(T)*Dim );
324  }
325  template<class T,int Dim>
327  template<class T,int Dim>
329  {
330  Resize(V.m_N);
331  memcpy( m_pV, V.m_pV, m_N*sizeof(T)*Dim );
332  return *this;
333  }
334  template<class T,int Dim>
335  std::size_t NVector<T,Dim>::Dimensions() const{return m_N;}
336  template<class T,int Dim>
337  void NVector<T,Dim>::SetZero(void){for (std::size_t i=0; i<m_N*Dim; i++){m_pV[i] = T(0);}}
338  template<class T,int Dim>
339  const T* NVector<T,Dim>::operator () (std::size_t i) const
340  {
341  Assert( i < m_N );
342  return &m_pV[i*Dim];
343  }
344  template<class T,int Dim>
346  {
347  return &m_pV[i*Dim];
348  }
349  template<class T,int Dim>
350  const T* NVector<T,Dim>::operator [] (std::size_t i) const
351  {
352  return &m_pV[i*Dim];
353  }
354  template<class T,int Dim>
356  {
357  return &m_pV[i*Dim];
358  }
359  template<class T,int Dim>
361  {
362  NVector<T,Dim> V(*this);
363  for (std::size_t i=0; i<m_N*Dim; i++)
364  V.m_pV[i] *= A;
365  return V;
366  }
367  template<class T,int Dim>
369  {
370  for (std::size_t i=0; i<m_N*Dim; i++)
371  m_pV[i] *= A;
372  return *this;
373  }
374  template<class T,int Dim>
376  {
377  NVector<T,Dim> V(*this);
378  for (std::size_t i=0; i<m_N*Dim; i++)
379  V.m_pV[i] /= A;
380  return V;
381  }
382  template<class T,int Dim>
384  {
385  for (std::size_t i=0; i<m_N*Dim; i++)
386  m_pV[i] /= A;
387  return *this;
388  }
389  template<class T,int Dim>
391  {
392  NVector<T,Dim> V(m_N);
393  for (std::size_t i=0; i<m_N*Dim; i++)
394  V.m_pV[i] = m_pV[i] + V0.m_pV[i];
395 
396  return V;
397  }
398  template<class T,int Dim>
400  {
401  for (std::size_t i=0; i<m_N*Dim; i++)
402  m_pV[i] += V.m_pV[i]*scale;
403 
404  return *this;
405  }
406  template<class T,int Dim>
408  {
409  for (std::size_t i=0; i<m_N*Dim; i++)
410  m_pV[i] -= V.m_pV[i]*scale;
411 
412  return *this;
413  }
414  template<class T,int Dim>
415  void NVector<T,Dim>::Add(const NVector<T,Dim>& V1,const T& scale1,const NVector<T,Dim>& V2,const T& scale2,NVector<T,Dim>& Out){
416  for (std::size_t i=0; i<V1.m_N*Dim; i++)
417  Out.m_pV[i]=V1.m_pV[i]*scale1+V2.m_pV[i]*scale2;
418  }
419  template<class T,int Dim>
420  void NVector<T,Dim>::Add(const NVector<T,Dim>& V1,const T& scale1,const NVector<T,Dim>& V2,NVector<T,Dim>& Out){
421  for (std::size_t i=0; i<V1.m_N*Dim; i++)
422  Out.m_pV[i]=V1.m_pV[i]*scale1+V2.m_pV[i];
423  }
424  template<class T,int Dim>
426  {
427  for (std::size_t i=0; i<m_N*Dim; i++)
428  m_pV[i] += V.m_pV[i];
429 
430  return *this;
431  }
432  template<class T,int Dim>
434  {
435  NVector<T,Dim> V(m_N);
436  for (std::size_t i=0; i<m_N*Dim; i++)
437  V.m_pV[i] = m_pV[i] - V0.m_pV[i];
438 
439  return V;
440  }
441  template<class T,int Dim>
443  {
444  NVector<T,Dim> V(m_N);
445 
446  for (std::size_t i=0; i<m_N*Dim; i++)
447  V.m_pV[i] = -m_pV[i];
448 
449  return V;
450  }
451  template<class T,int Dim>
453  {
454  for (std::size_t i=0; i<m_N*Dim; i++)
455  m_pV[i] -= V.m_pV[i];
456 
457  return *this;
458  }
459  template<class T,int Dim>
460  T NVector<T,Dim>::Norm( std::size_t Ln ) const
461  {
462  T N = T();
463  for (std::size_t i = 0; i<m_N*Dim; i++)
464  N += pow(m_pV[i], (T)Ln);
465  return pow(N, (T)1.0/Ln);
466  }
467  template<class T,int Dim>
469  {
470  T N = 1.0f/Norm(2);
471  for (std::size_t i = 0; i<m_N*3; i++)
472  m_pV[i] *= N;
473  }
474  template<class T,int Dim>
476  {
477  T N = T();
478  for (std::size_t i = 0; i<m_N*Dim; i++)
479  N += m_pV[i]*m_pV[i];
480  return sqrt(N);
481  }
482  template<class T,int Dim>
484  {
485  T V0 = T();
486  for (std::size_t i=0; i<m_N*Dim; i++)
487  V0 += m_pV[i]*V.m_pV[i];
488 
489  return V0;
490  }
491 
492  }
493 }
494 #endif
NVector operator*(const T &A) const
Definition: vector.hpp:360
static void Add(const NVector &V1, const T &scale1, const NVector &V2, const T &scale2, NVector &Out)
Definition: vector.hpp:415
NVector & operator-=(const NVector &V)
Definition: vector.hpp:452
const T * operator[](std::size_t i) const
Definition: vector.hpp:350
NVector & AddScaled(const NVector &V, const T &scale)
Definition: vector.hpp:399
NVector & operator/=(const T &A)
Definition: vector.hpp:383
NVector operator-() const
Definition: vector.hpp:442
void Resize(std::size_t N)
Definition: vector.hpp:309
T Dot(const NVector &V) const
Definition: vector.hpp:483
std::size_t m_N
Definition: vector.h:145
const T * operator()(std::size_t i) const
Definition: vector.hpp:339
std::size_t Dimensions() const
Definition: vector.hpp:335
NVector operator+(const NVector &V) const
Definition: vector.hpp:390
T Norm(std::size_t Ln) const
Definition: vector.hpp:460
NVector & SubtractScaled(const NVector &V, const T &scale)
Definition: vector.hpp:407
NVector & operator+=(const NVector &V)
Definition: vector.hpp:425
NVector operator/(const T &A) const
Definition: vector.hpp:375
NVector & operator=(const NVector &V)
Definition: vector.hpp:328
NVector & operator*=(const T &A)
Definition: vector.hpp:368
const T & operator()(std::size_t i) const
Definition: vector.hpp:95
Vector operator+(const Vector &V) const
Definition: vector.hpp:146
Vector & SubtractScaled(const Vector &V, const T &scale)
Definition: vector.hpp:163
Vector & AddScaled(const Vector &V, const T &scale)
Definition: vector.hpp:155
T Norm(std::size_t Ln) const
Definition: vector.hpp:216
Vector & operator/=(const T &A)
Definition: vector.hpp:139
bool read(FILE *fp)
Definition: vector.hpp:267
Vector & operator+=(const Vector &V)
Definition: vector.hpp:181
Vector operator*(const T &A) const
Definition: vector.hpp:116
static void Add(const Vector &V1, const T &scale1, const Vector &V2, const T &scale2, Vector &Out)
Definition: vector.hpp:171
std::size_t m_N
Definition: vector.h:93
std::size_t Dimensions() const
Definition: vector.hpp:91
void Resize(std::size_t N)
Definition: vector.hpp:63
const T & operator[](std::size_t i) const
Definition: vector.hpp:106
Vector & operator=(const Vector &V)
Definition: vector.hpp:84
T Length() const
Definition: vector.hpp:231
bool write(FILE *fp) const
Definition: vector.hpp:276
Vector & operator-=(const Vector &V)
Definition: vector.hpp:208
Vector operator/(const T &A) const
Definition: vector.hpp:131
Vector operator-() const
Definition: vector.hpp:198
Vector & operator*=(const T &A)
Definition: vector.hpp:124
T Dot(const Vector &V) const
Definition: vector.hpp:239
void read(std::istream &stream, Type &value)
Function for reading data from a stream.
Definition: region_xy.h:46
void write(std::ostream &stream, Type value)
Function for writing data to a stream.
Definition: region_xy.h:63