File content as of revision 3:40559ebef0f1:

#include "mbed.h"
#include "myConstants.h"
#include "Vector.h"


Vector::Vector(int dim) : dim(dim), components(0){
    components = new float[dim];
    if (!components) AbortWithMsg("Memory Allocation Error");
    for(int i=0; i<dim; i++) {
        components[i] = 0.0f;
    }
}


Vector::~Vector() {
    delete[] components;
}

Vector::Vector(const Vector& v) : dim(v.dim), components(0) {
    components = new float[dim];
    if (!components) AbortWithMsg("Memory Allocation Error");
    memcpy(components, v.GetpComponents(), sizeof(float)*dim);
}

Vector& Vector::operator=(const Vector& v) {
    if (this == &v) return *this;
    dim = v.dim;
    delete[] components;
    components = new float[dim];
    if (!components) AbortWithMsg("Memory Allocation Error");
    memcpy(components, v.GetpComponents(), sizeof(float)*dim);

    return *this;
}

Vector& Vector::operator*=(float c) {
    for (int i = 0; i < dim; i++) {
        components[i] *= c;
    }

    return *this;
}

Vector& Vector::operator/=(float c) {
    if (fabs(c) < NEARLY_ZERO) AbortWithMsg("Division by Zero");
    for (int i = 0; i < dim; i++) {
        components[i] /= c;
    }

    return *this;
}

Vector& Vector::operator+=(const Vector& v) {
    if (dim != v.dim) AbortWithMsg("failed to add: Irregular Dimention");
    for (int i = 0; i < dim; i++) {
        components[i] += v.components[i];
    }

    this->CleanUp();

    return *this;
}

Vector& Vector::operator-=(const Vector& v) {
    if (dim != v.dim) AbortWithMsg("failed to subtract: Irregular Dimention");
    for (int i = 0; i < dim; i++) {
        components[i] -= v.components[i];
    }

    this->CleanUp();

    return *this;
}

void Vector::SetComp(int dimNo, float val) {
    if (dimNo > dim) AbortWithMsg("Index Out of Bounds Error");
    components[dimNo-1] = val;
}

float Vector::GetNorm() const {
    float norm = 0.0f;
    for (int i = 0; i < dim; i++) {
        norm += components[i] * components[i];
    }
    return sqrt(norm);
}

Vector Vector::Normalize() const {
    float norm = GetNorm();
    Vector temp(*this);
    for (int i = 0; i < dim; i++) {
        temp.components[i] /= norm;
    }
    temp.CleanUp();
    return temp;
}

void Vector::CleanUp() {
    float maxComp = 0.0f;
    for (int i = 0; i < dim; i++) {
        if (fabs(components[i]) > maxComp) maxComp = fabs(components[i]);
    }
    if (maxComp > NEARLY_ZERO) {
        for (int i = 0; i < dim; i++) {
            if (fabs(components[i]) / maxComp < ZERO_TOLERANCE) components[i] = 0.0f;
        }
    }
}

Vector operator+(const Vector& lhv, const Vector& rhv) {
    Vector retVec(lhv);
    retVec += rhv;
    return retVec;
}

Vector operator-(const Vector& lhv, const Vector& rhv) {
    Vector retVec(lhv);
    retVec -= rhv;
    return retVec;
}

Vector Cross(const Vector& lhv, const Vector& rhv) {
    if (lhv.GetDim() != 3) AbortWithMsg("failed to cross: variable 'dim' must be 3");
    if (lhv.GetDim() != rhv.GetDim()) AbortWithMsg("failed to cross: Irregular Dimention");

    Vector retVec(lhv.GetDim());

    for (int i = 0; i < lhv.GetDim(); i++) {
        retVec.SetComp(i + 1, lhv.GetComp((i + 1) % 3 + 1) * rhv.GetComp((i + 2) % 3 + 1)
            - lhv.GetComp((i + 2) % 3 + 1) * rhv.GetComp((i + 1) % 3 + 1));
    }

    return retVec;
}

Vector operator*(const float c, const Vector& rhv) {
    Vector retVec(rhv);
    retVec *= c;
    return retVec;
}

Vector operator*(const Vector& lhv, const float c) {
    Vector retVec(lhv);
    retVec *= c;
    return retVec;
}

Vector operator*(const Matrix& lhm, const Vector& rhv) {
    if (lhm.GetCol() != rhv.GetDim()) AbortWithMsg("Irregular Dimention");
    Vector retVec(lhm.GetRow());

    for (int i = 1; i <= lhm.GetRow(); i++) {
        float temp = 0.0f;
        for (int j = 1; j <= rhv.GetDim(); j++) {
            temp += lhm.GetComp(i, j)*rhv.GetComp(j);
        }
        retVec.SetComp(i, temp);
    }

    retVec.CleanUp();

    return retVec;
}

Vector operator*(const Vector& lhv, const Matrix& rhm) {
    if (lhv.GetDim() != rhm.GetRow()) AbortWithMsg("Irregular Dimention");
    Vector retVec(rhm.GetCol());

    for (int i = 1; i <= rhm.GetCol(); i++) {
        float temp = 0.0f;
        for (int j = 1; j <= lhv.GetDim(); j++) {
            temp += lhv.GetComp(j) * rhm.GetComp(j, i);
        }
        retVec.SetComp(i, temp);
    }

    retVec.CleanUp();

    return retVec;
}

float operator*(const Vector& lhv, const Vector& rhv) {
    if (lhv.GetDim() != rhv.GetDim()) AbortWithMsg("Irregular Dimention");
    float retVal = 0.0f;

    for (int i = 1; i <= lhv.GetDim(); i++) {
        retVal += lhv.GetComp(i) * rhv.GetComp(i);
    }

    return retVal;
}