Vector4.hh

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: 4 tuple
 * Author: Nate Koenig
 * Date: 19 Aug 2008
 */

#ifndef VECTOR4_HH
#define VECTOR4_HH

#include <iostream>
#include <fstream>
#include "math/Matrix4.hh"

namespace gazebo
{
    namespace math
  {
    
    class Vector4
    {
      public: Vector4();
    
      public: Vector4( const double &x, const double &y, const double &z, const double &w );
    
      public: Vector4( const Vector4 &pt );
    
      public: virtual ~Vector4();
    
      public: double Distance( const Vector4 &pt ) const;
    
      public: double GetLength() const;
    
      public: double GetSquaredLength() const;
    
      public: void Normalize();
    
      public: void Set(double x = 0, double y =0 , double z = 0, double w=0);
    
      public: const Vector4 &operator=( const Vector4 &pt );
    
      public: const Vector4 &operator=( double value );
    
      public: Vector4 operator+( const Vector4 &pt ) const;
    
      public: const Vector4 &operator+=( const Vector4 &pt );
    
      public: Vector4 operator-( const Vector4 &pt ) const;
    
      public: const Vector4 &operator-=( const Vector4 &pt );
    
      public: const Vector4 operator/( const Vector4 &pt ) const;
    
      public: const Vector4 &operator/=( const Vector4 &pt );
    
      public: const Vector4 operator/( double v ) const;
    
      public: const Vector4 &operator/=( double v );
    
      public: const Vector4 operator*( const Vector4 &pt ) const;

      public: const Vector4 operator*( const Matrix4 &_m ) const;
    
      public: const Vector4 &operator*=( const Vector4 &pt );
    
      public: const Vector4 operator*( double v ) const;
    
      public: const Vector4 &operator*=( double v );
    
      public: bool operator==( const Vector4 &pt ) const;
    
      public: bool operator!=( const Vector4 &pt ) const;
    
      public: bool IsFinite() const;
    
      public: double operator[](unsigned int index) const;
    
      public: double x;
    
      public: double y;
    
      public: double z;
    
      public: double w;
    
      public: friend std::ostream &operator<<( std::ostream &out, const gazebo::math::Vector4 &pt )
      {
        out << pt.x << " " << pt.y << " " << pt.z << " " << pt.w;
    
        return out;
      }
    
      public: friend std::istream &operator>>( std::istream &in, gazebo::math::Vector4 &pt )
      {
        // Skip white spaces
        in.setf( std::ios_base::skipws );
        in >> pt.x >> pt.y >> pt.z >> pt.w;
        return in;
      }
    };
  }
}
#endif