Added Eigen dependency, so now QtRocket Vectors (and matrices and quaternions) are backed by Eigen. Cleaned up unused files also

CMakeLists.txt

@@ -36,6 +36,11 @@ if(WIN32)
 endif()
 FetchContent_MakeAvailable(CURL)
 
+# eigen dependency
+FetchContent_Declare(eigen
+   GIT_REPOSITORY https://gitlab.com/libeigen/eigen
+   GIT_TAG 3.4.0)
+FetchContent_MakeAvailable(eigen)
 
 
 set(CMAKE_AUTOUIC ON)
@@ -84,8 +89,6 @@ set(PROJECT_SOURCES
         gui/ThrustCurveMotorSelector.ui
         gui/qcustomplot.cpp
         gui/qcustomplot.h
-        model/MotorCase.cpp
-        model/MotorCase.h
         model/MotorModel.cpp
         model/MotorModel.h
         model/MotorModelDatabase.cpp
@@ -96,12 +99,10 @@ set(PROJECT_SOURCES
         model/ThrustCurve.h
         sim/AtmosphericModel.h
         sim/ConstantAtmosphere.h
-        sim/ConstantGravityModel.cpp
         sim/ConstantGravityModel.h
         sim/DESolver.h
         sim/Environment.h
         sim/GeoidModel.h
-        sim/GravityModel.cpp
         sim/GravityModel.h
         sim/Propagator.cpp
         sim/Propagator.h
@@ -110,7 +111,6 @@ set(PROJECT_SOURCES
         sim/SphericalGeoidModel.h
         sim/SphericalGravityModel.cpp
         sim/SphericalGravityModel.h
-        sim/StateData.cpp
         sim/StateData.h
         sim/USStandardAtmosphere.cpp
         sim/USStandardAtmosphere.h
@@ -130,15 +130,10 @@ set(PROJECT_SOURCES
         utils/ThreadPool.h
         utils/ThrustCurveAPI.cpp
         utils/ThrustCurveAPI.h
-        utils/Triplet.h
         utils/TSQueue.h
         utils/math/Constants.h
-        utils/math/Quaternion.cpp
+        utils/math/MathTypes.h
-        utils/math/Quaternion.h
-        utils/math/UtilityMathFunctions.cpp
         utils/math/UtilityMathFunctions.h
-        utils/math/Vector3.cpp
-        utils/math/Vector3.h
         ${TS_FILES}
 )
 
@@ -171,7 +166,7 @@ else()
 endif()
 
 #target_link_libraries(qtrocket PRIVATE Qt${QT_VERSION_MAJOR}::Widgets Qt${Qt_VERSION_MAJOR}::PrintSupport libcurl jsoncpp_static fmt::fmt-header-only)
-target_link_libraries(qtrocket PRIVATE Qt6::Widgets Qt6::PrintSupport libcurl jsoncpp_static fmt::fmt-header-only)
+target_link_libraries(qtrocket PRIVATE Qt6::Widgets Qt6::PrintSupport libcurl jsoncpp_static fmt::fmt-header-only eigen)
 
 set_target_properties(qtrocket PROPERTIES
     MACOSX_BUNDLE_GUI_IDENTIFIER my.example.com

gui/MainWindow.cpp

@@ -83,6 +83,7 @@ MainWindow::MainWindow(QtRocket* _qtRocket, QWidget *parent)
            this,
            SLOT(onButton_getTCMotorData_clicked()));
 
+   ui->calculateTrajectory_btn->setDisabled(true);
 }
 
 MainWindow::~MainWindow()
@@ -186,7 +187,13 @@ void MainWindow::onButton_setMotor_clicked()
    QString motorName = ui->engineSelectorComboBox->currentText();
    model::MotorModel mm = rseDatabase->getMotorModelByName(motorName.toStdString());
    QtRocket::getInstance()->getRocket()->setMotorModel(mm);
-   QtRocket::getInstance()->addMotorModels(rseDatabase->getMotors());
+
+   // Now that we have a motor selected, we can enable the calculateTrajectory button
+   ui->calculateTrajectory_btn->setDisabled(false);
+
+   /// TODO: Figure out if this is the right place to populate the motor database
+   /// or from RSEDatabaseLoader where it currently is populated.
+   //QtRocket::getInstance()->addMotorModels(rseDatabase->getMotors());
 
 }
 

model/MotorCase.cpp

@@ -1 +0,0 @@
-#include "MotorCase.h"

model/MotorCase.h

@@ -1,17 +0,0 @@
-#ifndef MODEL_MOTORCASE_H
-#define MODEL_MOTORCASE_H
-
-namespace model
-{
-class MotorCase
-{
-public:
-   MotorCase();
-   ~MotorCase();
-
-private:
-
-};
-
-} // namespace model
-#endif // MODEL_MOTORCASE_H

model/MotorModel.h

@@ -406,7 +406,7 @@ public:
    MetaData data;
 private:
    bool ignitionOccurred{false};
-    bool burnOutOccurred{false};
+   bool burnOutOccurred{false};
    double emptyMass;
    double isp;
    double maxTime;

sim/ConstantGravityModel.cpp

@@ -1,10 +0,0 @@
-#include "ConstantGravityModel.h"
-
-namespace sim {
-
-ConstantGravityModel::ConstantGravityModel()
-{
-
-}
-
-} // namespace sim

sim/ConstantGravityModel.h

@@ -3,18 +3,21 @@
 
 // qtrocket headers
 #include "sim/GravityModel.h"
-#include "utils/Triplet.h"
+#include "utils/math/MathTypes.h"
 
 namespace sim {
 
 class ConstantGravityModel : public GravityModel
 {
 public:
-    ConstantGravityModel();
+   ConstantGravityModel() {}
 
-    virtual ~ConstantGravityModel() {}
+   virtual ~ConstantGravityModel() {}
 
-    TripletD getAccel(double, double, double) override { return TripletD(0.0, 0.0, -9.8); }
+   Vector3 getAccel(double, double, double) override
+   {
+      return Vector3(0.0, 0.0, -9.8);
+   }
 };
 
 } // namespace sim

sim/DESolver.h

@@ -19,7 +19,17 @@ public:
    virtual ~DESolver() {}
 
    virtual void setTimeStep(double ts) = 0;
-   virtual void step(double t, const std::vector<double>& curVal, std::vector<double>& res ) = 0;
+   /**
+    * @brief 
+    * 
+    * @param curVal 
+    * @param res 
+    * @param t Optional parameter, but not used in QtRocket. Some generic solvers take time as
+    *          a parameter to ODEs, but QtRocket's kinematic equations don't. Since I wrote
+    *          the RK4 solver independently as a general tool, this interface is needed
+    *          here unfortunately.
+    */
+   virtual void step(const std::vector<double>& curVal, std::vector<double>& res, double t = 0.0) = 0;
 };
 
 } // namespace sim

sim/GravityModel.cpp

@@ -1,14 +0,0 @@
-#include "GravityModel.h"
-
-namespace sim
-{
-
-GravityModel::GravityModel()
-{
-}
-
-GravityModel::~GravityModel()
-{
-}
-
-} // namespace sim

sim/GravityModel.h

@@ -2,7 +2,7 @@
 #define SIM_GRAVITYMODEL_H
 
 // qtrocket headers
-#include "utils/Triplet.h"
+#include "utils/math/MathTypes.h"
 
 namespace sim
 {
@@ -10,11 +10,11 @@ namespace sim
 class GravityModel
 {
 public:
-   GravityModel();
+   GravityModel() {}
-   virtual ~GravityModel();
+   virtual ~GravityModel() {}
 
-   virtual TripletD getAccel(double x, double y, double z) = 0;
+   virtual Vector3 getAccel(double x, double y, double z) = 0;
-   TripletD getAccel(const TripletD& t) { return this->getAccel(t.x1, t.x2, t.x3); }
+   Vector3 getAccel(const Vector3& t) { return this->getAccel(t[0], t[1], t[2]); }
 };
 
 } // namespace sim

sim/Propagator.cpp

@@ -23,7 +23,8 @@
 namespace sim {
 
 Propagator::Propagator(Rocket* r)
-   : integrator(),
+   : linearIntegrator(),
+     //orientationIntegrator(),
      rocket(r)
 
 {
@@ -37,23 +38,25 @@ Propagator::Propagator(Rocket* r)
    // and pass it a freshly allocated RK4Solver pointer
 
    // The state vector has components of the form:
-   // (x, y, z, xdot, ydot, zdot, pitch, yaw, roll, pitchRate, yawRate, rollRate)
+   linearIntegrator.reset(new RK4Solver(
-   integrator.reset(new RK4Solver(
+      /* dx/dt  */ [](const std::vector<double>& s, double) -> double {return s[3]; },
-      /* dx/dt  */ [](double, const std::vector<double>& s) -> double {return s[3]; },
+      /* dy/dt  */ [](const std::vector<double>& s, double) -> double {return s[4]; },
-      /* dy/dt  */ [](double, const std::vector<double>& s) -> double {return s[4]; },
+      /* dz/dt  */ [](const std::vector<double>& s, double) -> double {return s[5]; },
-      /* dz/dt  */ [](double, const std::vector<double>& s) -> double {return s[5]; },
+      /* dvx/dt */ [this](const std::vector<double>&, double ) -> double { return getForceX() / getMass(); },
-      /* dvx/dt */ [this](double, const std::vector<double>& ) -> double { return getForceX() / getMass(); },
+      /* dvy/dt */ [this](const std::vector<double>&, double ) -> double { return getForceY() / getMass(); },
-      /* dvy/dt */ [this](double, const std::vector<double>& ) -> double { return getForceY() / getMass(); },
+      /* dvz/dt */ [this](const std::vector<double>&, double ) -> double { return getForceZ() / getMass(); }));
-      /* dvz/dt */ [this](double, const std::vector<double>& ) -> double { return getForceZ() / getMass(); },
+   linearIntegrator->setTimeStep(timeStep);
-       /* dpitch/dt    */ [](double, const std::vector<double>& s) -> double { return s[9]; },
+   
-       /* dyaw/dt      */ [](double, const std::vector<double>& s) -> double { return s[10]; },
+//   orientationIntegrator.reset(new RK4Solver(
-       /* droll/dt     */ [](double, const std::vector<double>& s) -> double { return s[11]; },
+//       /* dpitch/dt    */ [](double, const std::vector<double>& s) -> double { return s[3]; },
-       /* dpitchRate/dt */ [this](double, const std::vector<double>& s) -> double { return (getTorqueP() - s[7] * s[8] * (getIroll() - getIyaw())) / getIpitch(); },
+//       /* dyaw/dt      */ [](double, const std::vector<double>& s) -> double { return s[4]; },
-       /* dyawRate/dt   */ [this](double, const std::vector<double>& s) -> double { return (getTorqueQ() - s[6] * s[9] * (getIpitch() - getIroll())) / getIyaw(); },
+//       /* droll/dt     */ [](double, const std::vector<double>& s) -> double { return s[5]; },
-      /* drollRate/dt   */ [this](double, const std::vector<double>& s) -> double { return (getTorqueR() - s[6] * s[7] * (getIyaw() - getIpitch())) / getIroll(); }));
+//       /* dpitchRate/dt */ [this](double, const std::vector<double>& s) -> double { return (getTorqueP() - s[1] * s[2] * (getIroll() - getIyaw())) / getIpitch(); },
+//       /* dyawRate/dt   */ [this](double, const std::vector<double>& s) -> double { return (getTorqueQ() - s[0] * s[2] * (getIpitch() - getIroll())) / getIyaw(); },
+//      /* drollRate/dt   */ [this](double, const std::vector<double>& s) -> double { return (getTorqueR() - s[0] * s[1] * (getIyaw() - getIpitch())) / getIroll(); }));
 
+//   orientationIntegrator->setTimeStep(timeStep);
 
-   integrator->setTimeStep(timeStep);
    saveStates = true;
 }
 
@@ -69,7 +72,7 @@ void Propagator::runUntilTerminate()
    while(true)
    {
       // tempRes gets overwritten
-      integrator->step(currentTime, currentState, tempRes);
+      linearIntegrator->step(currentState, tempRes);
 
       std::swap(currentState, tempRes);
       if(saveStates)
@@ -110,7 +113,7 @@ double Propagator::getForceY()
 double Propagator::getForceZ()
 {
     QtRocket* qtrocket = QtRocket::getInstance();
-    double gravity = (qtrocket->getEnvironment()->getGravityModel()->getAccel(currentState[0], currentState[1], currentState[2])).x3;
+    double gravity = (qtrocket->getEnvironment()->getGravityModel()->getAccel(currentState[0], currentState[1], currentState[2]))[2];
     double airDrag = (currentState[5] >= 0 ? -1.0 : 1.0) * qtrocket->getEnvironment()->getAtmosphericModel()->getDensity(currentState[2]) / 2.0 * 0.008107 * rocket->getDragCoefficient() * currentState[5]* currentState[5];
     double thrust  = rocket->getThrust(currentTime);
     return gravity + airDrag + thrust;

sim/Propagator.h

@@ -74,12 +74,13 @@ private:
 
 //private:
 
-   std::unique_ptr<sim::DESolver> integrator;
+   std::unique_ptr<sim::DESolver> linearIntegrator;
+   //std::unique_ptr<sim::DESolver> orientationIntegrator;
 
    Rocket* rocket;
 
-   std::vector<double> currentState{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
+   std::vector<double> currentState{0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
-   std::vector<double> tempRes{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
+   std::vector<double> tempRes{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
    bool saveStates{true};
    double currentTime{0.0};
    double timeStep{0.01};

sim/RK4Solver.h

@@ -19,6 +19,15 @@
 
 namespace sim {
 
+/**
+ * @brief Runge-Kutta 4th order coupled ODE solver.
+ * @note This was written outside of the context of QtRocket, and it is very generic. There are
+ *       some features of this solver that are note used by QtRocket, for example, it can solve
+ *       and arbitrarily large system of coupled ODEs, but QtRocket only makes use of a system
+ *       of size 6 (x, y, z, xDot, yDot, zDot) at a time. 
+ * 
+ * @tparam Ts 
+ */
 template<typename... Ts>
 class RK4Solver : public DESolver
 {
@@ -34,7 +43,7 @@ public:
 
    void setTimeStep(double inTs) override { dt = inTs;  halfDT = dt / 2.0; }
 
-   void step(double t, const std::vector<double>& curVal, std::vector<double>& res) override
+   void step(const std::vector<double>& curVal, std::vector<double>& res, double t = 0.0) override
    {
       if(dt == std::numeric_limits<double>::quiet_NaN())
       {
@@ -44,7 +53,7 @@ public:
 
       for(size_t i = 0; i < len; ++i)
       {
-         k1[i] = odes[i](t, curVal);
+         k1[i] = odes[i](curVal, t);
       }
       // compute k2 values. This involves stepping the current values forward a half-step
       // based on k1, so we do the stepping first
@@ -54,7 +63,7 @@ public:
       }
       for(size_t i = 0; i < len; ++i)
       {
-         k2[i] = odes[i](t + halfDT, temp);
+         k2[i] = odes[i](temp, t + halfDT);
       }
       // repeat for k3
       for(size_t i = 0; i < len; ++i)
@@ -63,7 +72,7 @@ public:
       }
       for(size_t i = 0; i < len; ++i)
       {
-         k3[i] = odes[i](t + halfDT, temp);
+         k3[i] = odes[i](temp, t + halfDT);
       }
 
       // now k4
@@ -73,7 +82,7 @@ public:
       }
       for(size_t i = 0; i < len; ++i)
       {
-         k4[i] = odes[i](t + dt, temp);
+         k4[i] = odes[i](temp, t + dt);
       }
 
       // now compute the result
@@ -85,7 +94,7 @@ public:
    }
 
 private:
-   std::vector<std::function<double(double, const std::vector<double>&)>> odes;
+   std::vector<std::function<double(const std::vector<double>&, double)>> odes;
 
    static constexpr size_t len = sizeof...(Ts);
    double k1[len];

sim/SphericalGravityModel.cpp

@@ -25,7 +25,7 @@ SphericalGravityModel::~SphericalGravityModel()
 
 }
 
-TripletD SphericalGravityModel::getAccel(double x, double y, double z)
+Vector3 SphericalGravityModel::getAccel(double x, double y, double z)
 {
    // Convert x, y, z from meters to km. This is to avoid potential precision losses
    // with using the earth's gravitation parameter in meters (14 digit number).
@@ -43,7 +43,7 @@ TripletD SphericalGravityModel::getAccel(double x, double y, double z)
    double ay = accelFactor * y_km * 1000.0;
    double az = accelFactor * z_km * 1000.0;
 
-   return TripletD(ax, ay, az);
+   return Vector3(ax, ay, az);
 }
 
 

sim/SphericalGravityModel.h

@@ -2,7 +2,7 @@
 #define SIM_SPHERICALGRAVITYMODEL_H
 
 // qtrocket headers
-#include "GravityModel.h"
+#include "sim/GravityModel.h"
 
 namespace sim
 {
@@ -13,7 +13,7 @@ public:
    SphericalGravityModel();
    virtual ~SphericalGravityModel();
 
-   TripletD getAccel(double x, double y, double z) override;
+   Vector3 getAccel(double x, double y, double z) override;
 };
 
 } // namespace sim

sim/StateData.cpp

@@ -1,6 +0,0 @@
-#include "StateData.h"
-
-StateData::StateData()
-{
-
-}

sim/StateData.h

@@ -2,8 +2,7 @@
 #define STATEDATA_H
 
 // qtrocket headers
-#include "utils/math/Vector3.h"
+#include "utils/math/MathTypes.h"
-#include "utils/math/Quaternion.h"
 
 /**
  * @brief The StateData class holds physical state data. Things such as position, velocity,
@@ -13,17 +12,18 @@
 class StateData
 {
 public:
-   StateData();
+   StateData() {}
+   ~StateData() {}
 
+/// TODO: Put these behind an interface
+// private:
+   Vector3 position{0.0, 0.0, 0.0};
+   Vector3 velocity{0.0, 0.0, 0.0};
 
-private:
+   Quaternion orientation{0.0, 0.0, 0.0, 0.0}; /// (scalar, vector)
-   math::Vector3 position{0.0, 0.0, 0.0};
+   Quaternion orientationRate{0.0, 0.0, 0.0, 0.0}; /// (scalar, vector)
-   math::Vector3 velocity{0.0, 0.0, 0.0};
 
-   math::Quaternion orientation{0.0, 0.0, 0.0, 0.0}; // roll, pitch, yaw
+   Matrix3 dcm{{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-   math::Quaternion orientationRate{0.0, 0.0, 0.0, 0.0}; // roll-rate, pitch-rate, yaw-rate
-   // Necessary?
-   //math::Vector3 orientationAccel;
 
    // This is an array because the integrator expects it
    double data[6];

sim/WindModel.cpp

@@ -13,9 +13,9 @@ WindModel::~WindModel()
 {
 }
 
-TripletD WindModel::getWindSpeed(double /* x */, double /* y */ , double /* z */)
+Vector3 WindModel::getWindSpeed(double /* x */, double /* y */ , double /* z */)
 {
-   return TripletD(0.0, 0.0, 0.0);
+   return Vector3(0.0, 0.0, 0.0);
 }
 
 } // namespace sim

sim/WindModel.h

@@ -2,7 +2,7 @@
 #define SIM_WINDMODEL_H
 
 // qtrocket headers
-#include "utils/Triplet.h"
+#include "utils/math/MathTypes.h"
 
 namespace sim
 {
@@ -13,7 +13,7 @@ public:
    WindModel();
    virtual ~WindModel();
 
-   virtual TripletD getWindSpeed(double x, double y, double z);
+   virtual Vector3 getWindSpeed(double x, double y, double z);
 
 };
 

utils/MotorModelDatabase.cpp

@@ -98,6 +98,7 @@ void MotorModelDatabase::saveMotorDatabase(const std::string& filename)
       motor.put("type", m.data.type.str());
       motor.put("lastUpdated", m.data.lastUpdated);
 
+      // delays tag is in the form of a csv string
       std::stringstream delays;
       for (std::size_t i = 0; i < m.data.delays.size() - 1; ++i)
       {

utils/Triplet.h

@@ -1,21 +0,0 @@
-#ifndef TRIPLET_H
-#define TRIPLET_H
-
-/**
- * The purpose of this class is to get rid of using std::tuple for coordinate triplets.
- */
-
-template<typename T>
-struct Triplet
-{
-   Triplet(const T& a, const T& b, const T& c)
-      : x1(a), x2(b), x3(c)
-   {}
-   T x1;
-   T x2;
-   T x3;
-};
-
-using TripletD = Triplet<double>;
-
-#endif // TRIPLET_H

utils/math/MathTypes.h

@@ -0,0 +1,15 @@
+#ifndef UTILS_MATH_MATHTYPES_H
+#define UTILS_MATH_MATHTYPES_H
+
+#include <Eigen/Dense>
+
+/// This is not in any namespace. These typedefs are intended to be used throughout QtRocket,
+/// so keeping them in the global namespace seems to make sense.
+
+typedef Eigen::Matrix3d    Matrix3;
+typedef Eigen::Matrix4d    Matrix4;
+typedef Eigen::Vector3d    Vector3;
+typedef Eigen::Quaterniond Quaternion;
+
+
+#endif // UTILS_MATH_MATHTYPES_H

utils/math/Quaternion.cpp

@@ -1,25 +0,0 @@
-
-// qtrocket headers
-#include "utils/math/Quaternion.h"
-
-namespace math
-{
-
-Quaternion::Quaternion()
-{
-
-}
-
-Quaternion::Quaternion(double r, const Vector3& i)
-   : real(r),
-     imag(i)
-{
-}
-
-Quaternion::Quaternion(double r, double i1, double i2, double i3)
-   : real(r),
-     imag(i1, i2, i3)
-{
-}
-
-} // namespace math

utils/math/Quaternion.h

@@ -1,63 +0,0 @@
-#ifndef MATH_QUATERNION_H
-#define MATH_QUATERNION_H
-
-/// \cond
-// C headers
-// C++ headers
-#include <utility>
-
-// 3rd party headers
-/// \endcond
-
-// qtrocket headers
-#include "Vector3.h"
-
-
-namespace math
-{
-
-class Quaternion
-{
-public:
-    Quaternion();
-    ~Quaternion() {}
-
-    Quaternion(double r, const Vector3& i);
-    Quaternion(double r, double i1, double i2, double i3);
-
-    Quaternion(const Quaternion&) = default;
-    Quaternion(Quaternion&&) = default;
-
-    Quaternion& operator=(const Quaternion& rhs)
-    {
-        if(this == &rhs)
-           return *this;
-        real = rhs.real;
-        imag = rhs.imag;
-        return *this;
-    }
-    Quaternion& operator=(Quaternion&& rhs)
-    {
-        if(this == &rhs)
-           return *this;
-        real = std::move(rhs.real);
-        imag = std::move(rhs.imag);
-        return *this;
-    }
-
-    /*
-    Quaternion operator-() {}
-    Quaternion operator-(const Quaternion& ) {}
-    Quaternion operator+(const Quaternion& ) {}
-    Quaternion operator*(double ) {}
-    Quaternion operator*(const Quaternion& ) {}
-    */
-
-private:
-    double real;
-    Vector3 imag;
-};
-
-} // namespace math
-
-#endif // MATH_QUATERNION_H

utils/math/UtilityMathFunctions.cpp

@@ -1,15 +0,0 @@
-
-/// \cond
-// C headers
-// C++ headers
-// 3rd party headers
-/// \endcond
-
-
-namespace utils
-{
-namespace math
-{
-
-} // namespace math
-} // namespace utils

utils/math/Vector3.cpp

@@ -1,68 +0,0 @@
-
-// qtrocket headers
-#include "utils/math/Vector3.h"
-
-namespace math
-{
-
-Vector3::Vector3()
-   : x1(0.0),
-     x2(0.0),
-     x3(0.0)
-{
-
-}
-
-Vector3::Vector3(const double& inX1,
-                 const double& inX2,
-                 const double& inX3)
-   : x1(inX1),
-     x2(inX2),
-     x3(inX3)
-{
-
-}
-
-Vector3::Vector3(const Vector3& o)
-   : x1(o.x1),
-     x2(o.x2),
-     x3(o.x3)
-{
-
-}
-
-Vector3::~Vector3()
-{}
-
-Vector3 Vector3::operator=(const Vector3& rhs)
-{
-    return Vector3(rhs.x1, rhs.x2, rhs.x3);
-}
-
-Vector3 Vector3::operator-()
-{
-    return Vector3(-x1, -x2, -x3);
-}
-
-Vector3 Vector3::operator-(const Vector3& rhs)
-{
-    return Vector3(x1 - rhs.x1,
-                   x2 - rhs.x2,
-                   x3 - rhs.x3);
-}
-
-Vector3 Vector3::operator+(const Vector3& rhs)
-{
-    return Vector3(x1 + rhs.x1,
-                   x2 + rhs.x2,
-                   x3 + rhs.x3);
-}
-
-Vector3 Vector3::operator*(const double& s)
-{
-    return Vector3(x1 * s,
-                   x2 * s,
-                   x3 * s);
-}
-
-} // namespace math

utils/math/Vector3.h

@@ -1,40 +0,0 @@
-#ifndef MATH_VECTOR3_H
-#define MATH_VECTOR3_H
-
-
-namespace math
-{
-
-class Vector3
-{
-public:
-   Vector3();
-   Vector3(const double& inX1,
-           const double& inX2,
-           const double& inX3);
-
-   Vector3(const Vector3& o);
-
-   ~Vector3();
-
-   Vector3 operator=(const Vector3& rhs);
-
-   Vector3 operator-();
-   Vector3 operator-(const Vector3& rhs);
-   Vector3 operator+(const Vector3& rhs);
-   Vector3 operator*(const double& s);
-
-   double getX1() { return x1; }
-   double getX2() { return x2; }
-   double getX3() { return x3; }
-
-
-//private:
-   double x1;
-   double x2;
-   double x3;
-};
-
-} // namespace math
-
-#endif // MATH_VECTOR3_H