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/* 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 */
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