Added Eigen dependency, so now QtRocket Vectors (and matrices and quaternions) are backed by Eigen. Cleaned up unused files also
This commit is contained in:
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821df8905a
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8e620cf0c1
@ -36,6 +36,11 @@ if(WIN32)
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endif()
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FetchContent_MakeAvailable(CURL)
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# eigen dependency
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FetchContent_Declare(eigen
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GIT_REPOSITORY https://gitlab.com/libeigen/eigen
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GIT_TAG 3.4.0)
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FetchContent_MakeAvailable(eigen)
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set(CMAKE_AUTOUIC ON)
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@ -84,8 +89,6 @@ set(PROJECT_SOURCES
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gui/ThrustCurveMotorSelector.ui
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gui/qcustomplot.cpp
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gui/qcustomplot.h
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model/MotorCase.cpp
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model/MotorCase.h
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model/MotorModel.cpp
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model/MotorModel.h
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model/MotorModelDatabase.cpp
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@ -96,12 +99,10 @@ set(PROJECT_SOURCES
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model/ThrustCurve.h
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sim/AtmosphericModel.h
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sim/ConstantAtmosphere.h
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sim/ConstantGravityModel.cpp
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sim/ConstantGravityModel.h
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sim/DESolver.h
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sim/Environment.h
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sim/GeoidModel.h
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sim/GravityModel.cpp
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sim/GravityModel.h
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sim/Propagator.cpp
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sim/Propagator.h
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@ -110,7 +111,6 @@ set(PROJECT_SOURCES
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sim/SphericalGeoidModel.h
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sim/SphericalGravityModel.cpp
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sim/SphericalGravityModel.h
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sim/StateData.cpp
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sim/StateData.h
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sim/USStandardAtmosphere.cpp
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sim/USStandardAtmosphere.h
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@ -130,15 +130,10 @@ set(PROJECT_SOURCES
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utils/ThreadPool.h
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utils/ThrustCurveAPI.cpp
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utils/ThrustCurveAPI.h
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utils/Triplet.h
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utils/TSQueue.h
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utils/math/Constants.h
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utils/math/Quaternion.cpp
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utils/math/Quaternion.h
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utils/math/UtilityMathFunctions.cpp
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utils/math/MathTypes.h
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utils/math/UtilityMathFunctions.h
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utils/math/Vector3.cpp
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utils/math/Vector3.h
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${TS_FILES}
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)
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@ -171,7 +166,7 @@ else()
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endif()
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#target_link_libraries(qtrocket PRIVATE Qt${QT_VERSION_MAJOR}::Widgets Qt${Qt_VERSION_MAJOR}::PrintSupport libcurl jsoncpp_static fmt::fmt-header-only)
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target_link_libraries(qtrocket PRIVATE Qt6::Widgets Qt6::PrintSupport libcurl jsoncpp_static fmt::fmt-header-only)
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target_link_libraries(qtrocket PRIVATE Qt6::Widgets Qt6::PrintSupport libcurl jsoncpp_static fmt::fmt-header-only eigen)
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set_target_properties(qtrocket PROPERTIES
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MACOSX_BUNDLE_GUI_IDENTIFIER my.example.com
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@ -83,6 +83,7 @@ MainWindow::MainWindow(QtRocket* _qtRocket, QWidget *parent)
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this,
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SLOT(onButton_getTCMotorData_clicked()));
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ui->calculateTrajectory_btn->setDisabled(true);
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}
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MainWindow::~MainWindow()
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@ -186,7 +187,13 @@ void MainWindow::onButton_setMotor_clicked()
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QString motorName = ui->engineSelectorComboBox->currentText();
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model::MotorModel mm = rseDatabase->getMotorModelByName(motorName.toStdString());
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QtRocket::getInstance()->getRocket()->setMotorModel(mm);
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QtRocket::getInstance()->addMotorModels(rseDatabase->getMotors());
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// Now that we have a motor selected, we can enable the calculateTrajectory button
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ui->calculateTrajectory_btn->setDisabled(false);
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/// TODO: Figure out if this is the right place to populate the motor database
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/// or from RSEDatabaseLoader where it currently is populated.
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//QtRocket::getInstance()->addMotorModels(rseDatabase->getMotors());
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}
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@ -1 +0,0 @@
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#include "MotorCase.h"
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@ -1,17 +0,0 @@
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#ifndef MODEL_MOTORCASE_H
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#define MODEL_MOTORCASE_H
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namespace model
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{
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class MotorCase
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{
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public:
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MotorCase();
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~MotorCase();
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private:
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};
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} // namespace model
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#endif // MODEL_MOTORCASE_H
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@ -1,10 +0,0 @@
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#include "ConstantGravityModel.h"
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namespace sim {
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ConstantGravityModel::ConstantGravityModel()
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{
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}
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} // namespace sim
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@ -3,18 +3,21 @@
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// qtrocket headers
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#include "sim/GravityModel.h"
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#include "utils/Triplet.h"
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#include "utils/math/MathTypes.h"
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namespace sim {
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class ConstantGravityModel : public GravityModel
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{
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public:
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ConstantGravityModel();
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ConstantGravityModel() {}
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virtual ~ConstantGravityModel() {}
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TripletD getAccel(double, double, double) override { return TripletD(0.0, 0.0, -9.8); }
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Vector3 getAccel(double, double, double) override
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{
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return Vector3(0.0, 0.0, -9.8);
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}
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};
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} // namespace sim
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@ -19,7 +19,17 @@ public:
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virtual ~DESolver() {}
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virtual void setTimeStep(double ts) = 0;
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virtual void step(double t, const std::vector<double>& curVal, std::vector<double>& res ) = 0;
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/**
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* @brief
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*
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* @param curVal
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* @param res
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* @param t Optional parameter, but not used in QtRocket. Some generic solvers take time as
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* a parameter to ODEs, but QtRocket's kinematic equations don't. Since I wrote
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* the RK4 solver independently as a general tool, this interface is needed
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* here unfortunately.
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*/
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virtual void step(const std::vector<double>& curVal, std::vector<double>& res, double t = 0.0) = 0;
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};
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} // namespace sim
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@ -1,14 +0,0 @@
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#include "GravityModel.h"
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namespace sim
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{
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GravityModel::GravityModel()
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{
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}
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GravityModel::~GravityModel()
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{
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}
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} // namespace sim
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@ -2,7 +2,7 @@
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#define SIM_GRAVITYMODEL_H
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// qtrocket headers
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#include "utils/Triplet.h"
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#include "utils/math/MathTypes.h"
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namespace sim
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{
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@ -10,11 +10,11 @@ namespace sim
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class GravityModel
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{
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public:
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GravityModel();
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virtual ~GravityModel();
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GravityModel() {}
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virtual ~GravityModel() {}
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virtual TripletD getAccel(double x, double y, double z) = 0;
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TripletD getAccel(const TripletD& t) { return this->getAccel(t.x1, t.x2, t.x3); }
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virtual Vector3 getAccel(double x, double y, double z) = 0;
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Vector3 getAccel(const Vector3& t) { return this->getAccel(t[0], t[1], t[2]); }
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};
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} // namespace sim
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@ -23,7 +23,8 @@
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namespace sim {
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Propagator::Propagator(Rocket* r)
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: integrator(),
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: linearIntegrator(),
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//orientationIntegrator(),
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rocket(r)
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{
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@ -37,23 +38,25 @@ Propagator::Propagator(Rocket* r)
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// and pass it a freshly allocated RK4Solver pointer
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// The state vector has components of the form:
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// (x, y, z, xdot, ydot, zdot, pitch, yaw, roll, pitchRate, yawRate, rollRate)
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integrator.reset(new RK4Solver(
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/* dx/dt */ [](double, const std::vector<double>& s) -> double {return s[3]; },
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/* dy/dt */ [](double, const std::vector<double>& s) -> double {return s[4]; },
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/* dz/dt */ [](double, const std::vector<double>& s) -> double {return s[5]; },
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/* dvx/dt */ [this](double, const std::vector<double>& ) -> double { return getForceX() / getMass(); },
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/* dvy/dt */ [this](double, const std::vector<double>& ) -> double { return getForceY() / getMass(); },
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/* dvz/dt */ [this](double, const std::vector<double>& ) -> double { return getForceZ() / getMass(); },
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/* dpitch/dt */ [](double, const std::vector<double>& s) -> double { return s[9]; },
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/* dyaw/dt */ [](double, const std::vector<double>& s) -> double { return s[10]; },
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/* droll/dt */ [](double, const std::vector<double>& s) -> double { return s[11]; },
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/* dpitchRate/dt */ [this](double, const std::vector<double>& s) -> double { return (getTorqueP() - s[7] * s[8] * (getIroll() - getIyaw())) / getIpitch(); },
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/* dyawRate/dt */ [this](double, const std::vector<double>& s) -> double { return (getTorqueQ() - s[6] * s[9] * (getIpitch() - getIroll())) / getIyaw(); },
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/* drollRate/dt */ [this](double, const std::vector<double>& s) -> double { return (getTorqueR() - s[6] * s[7] * (getIyaw() - getIpitch())) / getIroll(); }));
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linearIntegrator.reset(new RK4Solver(
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/* dx/dt */ [](const std::vector<double>& s, double) -> double {return s[3]; },
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/* dy/dt */ [](const std::vector<double>& s, double) -> double {return s[4]; },
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/* dz/dt */ [](const std::vector<double>& s, double) -> double {return s[5]; },
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/* dvx/dt */ [this](const std::vector<double>&, double ) -> double { return getForceX() / getMass(); },
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/* dvy/dt */ [this](const std::vector<double>&, double ) -> double { return getForceY() / getMass(); },
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/* dvz/dt */ [this](const std::vector<double>&, double ) -> double { return getForceZ() / getMass(); }));
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linearIntegrator->setTimeStep(timeStep);
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// orientationIntegrator.reset(new RK4Solver(
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// /* dpitch/dt */ [](double, const std::vector<double>& s) -> double { return s[3]; },
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// /* dyaw/dt */ [](double, const std::vector<double>& s) -> double { return s[4]; },
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// /* droll/dt */ [](double, const std::vector<double>& s) -> double { return s[5]; },
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// /* dpitchRate/dt */ [this](double, const std::vector<double>& s) -> double { return (getTorqueP() - s[1] * s[2] * (getIroll() - getIyaw())) / getIpitch(); },
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// /* dyawRate/dt */ [this](double, const std::vector<double>& s) -> double { return (getTorqueQ() - s[0] * s[2] * (getIpitch() - getIroll())) / getIyaw(); },
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// /* drollRate/dt */ [this](double, const std::vector<double>& s) -> double { return (getTorqueR() - s[0] * s[1] * (getIyaw() - getIpitch())) / getIroll(); }));
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// orientationIntegrator->setTimeStep(timeStep);
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integrator->setTimeStep(timeStep);
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saveStates = true;
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}
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@ -69,7 +72,7 @@ void Propagator::runUntilTerminate()
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while(true)
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{
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// tempRes gets overwritten
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integrator->step(currentTime, currentState, tempRes);
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linearIntegrator->step(currentState, tempRes);
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std::swap(currentState, tempRes);
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if(saveStates)
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@ -110,7 +113,7 @@ double Propagator::getForceY()
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double Propagator::getForceZ()
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{
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QtRocket* qtrocket = QtRocket::getInstance();
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double gravity = (qtrocket->getEnvironment()->getGravityModel()->getAccel(currentState[0], currentState[1], currentState[2])).x3;
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double gravity = (qtrocket->getEnvironment()->getGravityModel()->getAccel(currentState[0], currentState[1], currentState[2]))[2];
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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];
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double thrust = rocket->getThrust(currentTime);
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return gravity + airDrag + thrust;
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@ -74,12 +74,13 @@ private:
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//private:
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std::unique_ptr<sim::DESolver> integrator;
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std::unique_ptr<sim::DESolver> linearIntegrator;
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//std::unique_ptr<sim::DESolver> orientationIntegrator;
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Rocket* rocket;
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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};
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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};
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std::vector<double> currentState{0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
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std::vector<double> tempRes{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
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bool saveStates{true};
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double currentTime{0.0};
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double timeStep{0.01};
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@ -19,6 +19,15 @@
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namespace sim {
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/**
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* @brief Runge-Kutta 4th order coupled ODE solver.
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* @note This was written outside of the context of QtRocket, and it is very generic. There are
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* some features of this solver that are note used by QtRocket, for example, it can solve
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* and arbitrarily large system of coupled ODEs, but QtRocket only makes use of a system
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* of size 6 (x, y, z, xDot, yDot, zDot) at a time.
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*
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* @tparam Ts
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*/
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template<typename... Ts>
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class RK4Solver : public DESolver
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{
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@ -34,7 +43,7 @@ public:
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void setTimeStep(double inTs) override { dt = inTs; halfDT = dt / 2.0; }
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void step(double t, const std::vector<double>& curVal, std::vector<double>& res) override
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void step(const std::vector<double>& curVal, std::vector<double>& res, double t = 0.0) override
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{
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if(dt == std::numeric_limits<double>::quiet_NaN())
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{
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@ -44,7 +53,7 @@ public:
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for(size_t i = 0; i < len; ++i)
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{
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k1[i] = odes[i](t, curVal);
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k1[i] = odes[i](curVal, t);
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}
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// compute k2 values. This involves stepping the current values forward a half-step
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// based on k1, so we do the stepping first
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@ -54,7 +63,7 @@ public:
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}
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for(size_t i = 0; i < len; ++i)
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{
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k2[i] = odes[i](t + halfDT, temp);
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k2[i] = odes[i](temp, t + halfDT);
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}
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// repeat for k3
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for(size_t i = 0; i < len; ++i)
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@ -63,7 +72,7 @@ public:
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}
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for(size_t i = 0; i < len; ++i)
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{
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k3[i] = odes[i](t + halfDT, temp);
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k3[i] = odes[i](temp, t + halfDT);
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}
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// now k4
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@ -73,7 +82,7 @@ public:
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}
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for(size_t i = 0; i < len; ++i)
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{
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k4[i] = odes[i](t + dt, temp);
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k4[i] = odes[i](temp, t + dt);
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}
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// now compute the result
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@ -85,7 +94,7 @@ public:
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}
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private:
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std::vector<std::function<double(double, const std::vector<double>&)>> odes;
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std::vector<std::function<double(const std::vector<double>&, double)>> odes;
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static constexpr size_t len = sizeof...(Ts);
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double k1[len];
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@ -25,7 +25,7 @@ SphericalGravityModel::~SphericalGravityModel()
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}
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TripletD SphericalGravityModel::getAccel(double x, double y, double z)
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Vector3 SphericalGravityModel::getAccel(double x, double y, double z)
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{
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// Convert x, y, z from meters to km. This is to avoid potential precision losses
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// with using the earth's gravitation parameter in meters (14 digit number).
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@ -43,7 +43,7 @@ TripletD SphericalGravityModel::getAccel(double x, double y, double z)
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double ay = accelFactor * y_km * 1000.0;
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double az = accelFactor * z_km * 1000.0;
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return TripletD(ax, ay, az);
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return Vector3(ax, ay, az);
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}
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@ -2,7 +2,7 @@
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#define SIM_SPHERICALGRAVITYMODEL_H
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// qtrocket headers
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#include "GravityModel.h"
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#include "sim/GravityModel.h"
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namespace sim
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{
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@ -13,7 +13,7 @@ public:
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SphericalGravityModel();
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virtual ~SphericalGravityModel();
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TripletD getAccel(double x, double y, double z) override;
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Vector3 getAccel(double x, double y, double z) override;
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};
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} // namespace sim
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@ -1,6 +0,0 @@
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#include "StateData.h"
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StateData::StateData()
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{
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}
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@ -2,8 +2,7 @@
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#define STATEDATA_H
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// qtrocket headers
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#include "utils/math/Vector3.h"
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#include "utils/math/Quaternion.h"
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#include "utils/math/MathTypes.h"
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/**
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* @brief The StateData class holds physical state data. Things such as position, velocity,
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@ -13,17 +12,18 @@
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class StateData
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{
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public:
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StateData();
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StateData() {}
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~StateData() {}
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/// TODO: Put these behind an interface
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// private:
|
||||
Vector3 position{0.0, 0.0, 0.0};
|
||||
Vector3 velocity{0.0, 0.0, 0.0};
|
||||
|
||||
private:
|
||||
math::Vector3 position{0.0, 0.0, 0.0};
|
||||
math::Vector3 velocity{0.0, 0.0, 0.0};
|
||||
Quaternion orientation{0.0, 0.0, 0.0, 0.0}; /// (scalar, vector)
|
||||
Quaternion orientationRate{0.0, 0.0, 0.0, 0.0}; /// (scalar, vector)
|
||||
|
||||
math::Quaternion orientation{0.0, 0.0, 0.0, 0.0}; // roll, pitch, yaw
|
||||
math::Quaternion orientationRate{0.0, 0.0, 0.0, 0.0}; // roll-rate, pitch-rate, yaw-rate
|
||||
// Necessary?
|
||||
//math::Vector3 orientationAccel;
|
||||
Matrix3 dcm{{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
||||
|
||||
// This is an array because the integrator expects it
|
||||
double data[6];
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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);
|
||||
|
||||
};
|
||||
|
||||
|
||||
@ -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)
|
||||
{
|
||||
|
||||
@ -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
|
||||
15
utils/math/MathTypes.h
Normal file
15
utils/math/MathTypes.h
Normal file
@ -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
|
||||
@ -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
|
||||
@ -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
|
||||
@ -1,15 +0,0 @@
|
||||
|
||||
/// \cond
|
||||
// C headers
|
||||
// C++ headers
|
||||
// 3rd party headers
|
||||
/// \endcond
|
||||
|
||||
|
||||
namespace utils
|
||||
{
|
||||
namespace math
|
||||
{
|
||||
|
||||
} // namespace math
|
||||
} // namespace utils
|
||||
@ -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
|
||||
@ -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
|
||||
Loading…
x
Reference in New Issue
Block a user