92 lines
3.1 KiB
C++
92 lines
3.1 KiB
C++
/**
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* @file Point3.cpp
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* @brief 3D Point
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*/
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#include "Point3.h"
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#include "Lie-inl.h"
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namespace gtsam {
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/** Explicit instantiation of base class to export members */
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INSTANTIATE_LIE(Point3);
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/* ************************************************************************* */
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bool Point3::equals(const Point3 & q, double tol) const {
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return (fabs(x_ - q.x()) < tol && fabs(y_ - q.y()) < tol && fabs(z_ - q.z()) < tol);
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}
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void Point3::print(const std::string& s) const {
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std::cout << s << "(" << x_ << ", " << y_ << ", " << z_ << ")" << std::endl;
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}
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/* ************************************************************************* */
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bool Point3::operator== (const Point3& q) const {
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return x_ == q.x_ && y_ == q.y_ && z_ == q.z_;
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}
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/* ************************************************************************* */
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Point3 Point3::operator+(const Point3& q) const {
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return Point3( x_ + q.x_, y_ + q.y_, z_ + q.z_ );
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}
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/* ************************************************************************* */
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Point3 Point3::operator- (const Point3& q) const {
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return Point3( x_ - q.x_, y_ - q.y_, z_ - q.z_ );
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}
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/* ************************************************************************* */
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Point3 Point3::operator*(double s) const {
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return Point3(x_ * s, y_ * s, z_ * s);
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}
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/* ************************************************************************* */
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Point3 Point3::operator/(double s) const {
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return Point3(x_ / s, y_ / s, z_ / s);
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}
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/* ************************************************************************* */
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Point3 add(const Point3 &p, const Point3 &q) {
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return p+q;
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}
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/* ************************************************************************* */
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Matrix Dadd1(const Point3 &p, const Point3 &q) {
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return eye(3,3);
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}
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/* ************************************************************************* */
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Matrix Dadd2(const Point3 &p, const Point3 &q) {
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return eye(3,3);
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}
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/* ************************************************************************* */
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Point3 sub(const Point3 &p, const Point3 &q) {
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return p+q;
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}
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/* ************************************************************************* */
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Matrix Dsub1(const Point3 &p, const Point3 &q) {
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return eye(3,3);
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}
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/* ************************************************************************* */
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Matrix Dsub2(const Point3 &p, const Point3 &q) {
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return -eye(3,3);
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}
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/* ************************************************************************* */
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Point3 cross(const Point3 &p, const Point3 &q)
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{
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return Point3( p.y_*q.z_ - p.z_*q.y_,
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p.z_*q.x_ - p.x_*q.z_,
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p.x_*q.y_ - p.y_*q.x_ );
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}
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/* ************************************************************************* */
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double dot(const Point3 &p, const Point3 &q)
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{
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return ( p.x_*q.x_ + p.y_*q.y_ + p.z_*q.z_ );
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}
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/* ************************************************************************* */
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double norm(const Point3 &p)
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{
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return sqrt( p.x_*p.x_ + p.y_*p.y_ + p.z_*p.z_ );
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}
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/* ************************************************************************* */
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} // namespace gtsam
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