vector.h

Go to the documentation of this file.

/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
 * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com>
 *
 * Vector and related operations
 */
#pragma once

#include <algorithm>
#include <array>
#include <cmath>
#include <sstream>

#include <libcamera/base/log.h>
#include <libcamera/base/span.h>

#include "libcamera/internal/yaml_parser.h"

#include "matrix.h"

namespace libcamera {

LOG_DECLARE_CATEGORY(Vector)

namespace ipa {

#ifndef __DOXYGEN__
template<typename T, unsigned int Rows,
     std::enable_if_t<std::is_arithmetic_v<T>> * = nullptr>
#else
template<typename T, unsigned int Rows>
#endif /* __DOXYGEN__ */
class Vector
{
public:
    constexpr Vector() = default;

    constexpr Vector(const std::array<T, Rows> &data)
    {
        for (unsigned int i = 0; i < Rows; i++)
            data_[i] = data[i];
    }

    const T &operator[](size_t i) const
    {
        ASSERT(i < data_.size());
        return data_[i];
    }

    T &operator[](size_t i)
    {
        ASSERT(i < data_.size());
        return data_[i];
    }

#ifndef __DOXYGEN__
    template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 1>>
#endif /* __DOXYGEN__ */
    constexpr T x() const
    {
        return data_[0];
    }

#ifndef __DOXYGEN__
    template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 2>>
#endif /* __DOXYGEN__ */
    constexpr T y() const
    {
        return data_[1];
    }

#ifndef __DOXYGEN__
    template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 3>>
#endif /* __DOXYGEN__ */
    constexpr T z() const
    {
        return data_[2];
    }

    constexpr Vector<T, Rows> operator-() const
    {
        Vector<T, Rows> ret;
        for (unsigned int i = 0; i < Rows; i++)
            ret[i] = -data_[i];
        return ret;
    }

    constexpr Vector<T, Rows> operator-(const Vector<T, Rows> &other) const
    {
        Vector<T, Rows> ret;
        for (unsigned int i = 0; i < Rows; i++)
            ret[i] = data_[i] - other[i];
        return ret;
    }

    constexpr Vector<T, Rows> operator+(const Vector<T, Rows> &other) const
    {
        Vector<T, Rows> ret;
        for (unsigned int i = 0; i < Rows; i++)
            ret[i] = data_[i] + other[i];
        return ret;
    }

    constexpr T operator*(const Vector<T, Rows> &other) const
    {
        T ret = 0;
        for (unsigned int i = 0; i < Rows; i++)
            ret += data_[i] * other[i];
        return ret;
    }

    constexpr Vector<T, Rows> operator*(T factor) const
    {
        Vector<T, Rows> ret;
        for (unsigned int i = 0; i < Rows; i++)
            ret[i] = data_[i] * factor;
        return ret;
    }

    constexpr Vector<T, Rows> operator/(T factor) const
    {
        Vector<T, Rows> ret;
        for (unsigned int i = 0; i < Rows; i++)
            ret[i] = data_[i] / factor;
        return ret;
    }

    constexpr double length2() const
    {
        double ret = 0;
        for (unsigned int i = 0; i < Rows; i++)
            ret += data_[i] * data_[i];
        return ret;
    }

    constexpr double length() const
    {
        return std::sqrt(length2());
    }

private:
    std::array<T, Rows> data_;
};

template<typename T, unsigned int Rows, unsigned int Cols>
Vector<T, Rows> operator*(const Matrix<T, Rows, Cols> &m, const Vector<T, Cols> &v)
{
    Vector<T, Rows> result;

    for (unsigned int i = 0; i < Rows; i++) {
        T sum = 0;
        for (unsigned int j = 0; j < Cols; j++)
            sum += m[i][j] * v[j];
        result[i] = sum;
    }

    return result;
}

template<typename T, unsigned int Rows>
bool operator==(const Vector<T, Rows> &lhs, const Vector<T, Rows> &rhs)
{
    for (unsigned int i = 0; i < Rows; i++) {
        if (lhs[i] != rhs[i])
            return false;
    }

    return true;
}

template<typename T, unsigned int Rows>
bool operator!=(const Vector<T, Rows> &lhs, const Vector<T, Rows> &rhs)
{
    return !(lhs == rhs);
}

#ifndef __DOXYGEN__
bool vectorValidateYaml(const YamlObject &obj, unsigned int size);
#endif /* __DOXYGEN__ */

} /* namespace ipa */

#ifndef __DOXYGEN__
template<typename T, unsigned int Rows>
std::ostream &operator<<(std::ostream &out, const ipa::Vector<T, Rows> &v)
{
    out << "Vector { ";
    for (unsigned int i = 0; i < Rows; i++) {
        out << v[i];
        out << ((i + 1 < Rows) ? ", " : " ");
    }
    out << " }";

    return out;
}

template<typename T, unsigned int Rows>
struct YamlObject::Getter<ipa::Vector<T, Rows>> {
    std::optional<ipa::Vector<T, Rows>> get(const YamlObject &obj) const
    {
        if (!ipa::vectorValidateYaml(obj, Rows))
            return std::nullopt;

        ipa::Vector<T, Rows> vector;

        unsigned int i = 0;
        for (const YamlObject &entry : obj.asList()) {
            const auto value = entry.get<T>();
            if (!value)
                return std::nullopt;
            vector[i++] = *value;
        }

        return vector;
    }
};
#endif /* __DOXYGEN__ */

} /* namespace libcamera */