vctFixedSizeVector.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*

  Author(s):    Ofri Sadowsky, Anton Deguet
  Created on:   2003-08-18

  (C) Copyright 2003-2007 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/

#pragma once
#ifndef _vctFixedSizeVector_h
#define _vctFixedSizeVector_h

#include <cisstVector/vctFixedSizeVectorRef.h>

template <class _elementType, vct::size_type _size>
class vctFixedSizeVector : public vctFixedSizeVectorBase<
    _size, 1, _elementType,
    typename vctFixedSizeVectorTraits<_elementType, _size, 1>::array
    >
{
 public:
    /* define most types from vctContainerTraits */
    VCT_CONTAINER_TRAITS_TYPEDEFS(_elementType);

    typedef vctFixedSizeVectorTraits<_elementType, _size, 1> VectorTraits;
    /* no need to document, inherit doxygen documentation from
       vctFixedSizeVectorBase */
    typedef vctFixedSizeVector<value_type, _size> ThisType;
    typedef vctFixedSizeVectorBase<_size, 1, _elementType, typename VectorTraits::array> BaseType;
    typedef typename BaseType::CopyType CopyType;
    typedef class cmnTypeTraits<value_type> TypeTraits;
    typedef typename TypeTraits::VaArgPromotion ElementVaArgPromotion;

    enum {SIZEMINUSONE = _size - 1};

 public:
    inline vctFixedSizeVector()
        {}

    explicit inline vctFixedSizeVector(const value_type & value) {
        this->SetAll(value);
    }

    template <class __elementType, stride_type __stride, class __dataPtrType>
    explicit inline
    vctFixedSizeVector(const vctFixedSizeConstVectorBase<_size, __stride, __elementType, __dataPtrType> & vector) {
        this->Assign(vector);
    }


    template <stride_type __stride>
    inline
    vctFixedSizeVector(const vctFixedSizeConstVectorRef<_elementType, _size, __stride> & vector) {
        this->Assign(vector);
    }

    template <stride_type __stride>
    inline
    vctFixedSizeVector(const vctFixedSizeVectorRef<_elementType, _size, __stride> & vector) {
        this->Assign(vector);
    }

    template <stride_type __stride, class __dataPtrType>
    inline
    vctFixedSizeVector(const vctFixedSizeConstVectorBase<SIZEMINUSONE, __stride, _elementType, __dataPtrType> & vector, value_type lastElement) {
        // vctFixedSizeVector(const vctFixedSizeConstVectorBase<_size-1, __stride, _elementType, __dataPtrType> & vector, value_type lastElement) {
        this->ConcatenationOf(vector, lastElement);
    }

    template<class __elementType>
    explicit inline
    vctFixedSizeVector(const __elementType * elements)
    {
        this->Assign(elements);
    }

    template <class __vectorOwnerType>
    inline vctFixedSizeVector(const vctDynamicConstVectorBase<__vectorOwnerType, value_type> & vector)
    {
        this->Assign(vector);
    }


    inline vctFixedSizeVector(const value_type & element0, const value_type & element1) {
        CMN_ASSERT(_size == 2);
        (*this)[0] = element0;
        (*this)[1] = element1;
    }

    inline vctFixedSizeVector(const value_type & element0, const value_type & element1,
                              const value_type & element2) {
        CMN_ASSERT(_size == 3);
        (*this)[0] = element0;
        (*this)[1] = element1;
        (*this)[2] = element2;
    }

    inline vctFixedSizeVector(const value_type & element0, const value_type & element1,
                              const value_type & element2, const value_type & element3) {
        CMN_ASSERT(_size == 4);
        (*this)[0] = element0;
        (*this)[1] = element1;
        (*this)[2] = element2;
        (*this)[3] = element3;
    }

    inline vctFixedSizeVector(const value_type element0, const value_type element1,
        const value_type element2, const value_type element3, const value_type element4, ...)
    {
        CMN_ASSERT(_size > 4);
        (*this)[0] = element0;
        (*this)[1] = element1;
        (*this)[2] = element2;
        (*this)[3] = element3;
        (*this)[4] = element4;
        va_list nextArg;
        va_start(nextArg, element4);
        for (index_type i = 5; i < _size; ++i) {
            (*this).at(i) = value_type( va_arg(nextArg, ElementVaArgPromotion) );
        }
        va_end(nextArg);
    }



    inline ThisType & operator = (const ThisType & other) {
        return reinterpret_cast<ThisType &>(this->Assign(other));
    }

    template <stride_type __stride, class __elementType, class __dataPtrType>
    inline ThisType & operator = (const vctFixedSizeConstVectorBase<_size, __stride, __elementType,__dataPtrType> & other) {
        return reinterpret_cast<ThisType &>(this->Assign(other));
    }

    template <stride_type __stride>
    inline ThisType & operator = (const vctFixedSizeConstVectorRef<value_type, _size, __stride> & other) {
        return reinterpret_cast<ThisType &>(this->Assign(other));
    }

    template <stride_type __stride, class __elementType>
    inline ThisType & operator = (const vctFixedSizeConstVectorRef<__elementType, _size, __stride> & other) {
        this->Assign(other);
        return *this;
    }

    inline ThisType & operator = (const value_type & value) {
        this->SetAll(value);
        return *this;
    }

    bool FromStreamRaw(std::istream & inputStream, const char delimiter = ' ')
    {
        _elementType temp[_size];
        size_type index;
        bool valid = true;
        for (index = 0; index < _size; index++) {
            inputStream >> temp[index];  // assumes that operator >> is defined for _elementType
            if (inputStream.fail()) {
                valid = false;
                inputStream.clear();
                break;
            }
            // Now, look for the delimiter
            if (!isspace(delimiter)) {
                if (index < _size-1) {
                    char c;
                    inputStream >> c;
                    if (c != delimiter) {
                        valid = false;
                        break;
                    }
                }
            }
        }
        if (valid) {
            // Only update the object if the parsing was successful for all elements.
            for (index = 0; index < _size; index++)
                (*this)[index] = temp[index];
        }
        return valid;
    }

    void DeSerializeRaw(std::istream & inputStream)
    {
        size_type index;
        const size_type mySize = this->size();
        for (index = 0; index < mySize; ++index) {
            cmnDeSerializeRaw(inputStream, this->Element(index));
        }
    }

};


template <vct::size_type _size, vct::stride_type _vector1Stride, class _vector1Data,
          vct::stride_type _vector2Stride, class _vector2Data, class _elementType>
inline vctFixedSizeVector<_elementType, _size>
operator + (const vctFixedSizeConstVectorBase<_size, _vector1Stride, _elementType, _vector1Data> & vector1,
            const vctFixedSizeConstVectorBase<_size, _vector2Stride, _elementType, _vector2Data> & vector2)
{
    vctFixedSizeVector<_elementType, _size> result;
    result.SumOf(vector1, vector2);
    return result;
}

/* documented above */
template <vct::size_type _size, vct::stride_type _vector1Stride, class _vector1Data,
          vct::stride_type _vector2Stride, class _vector2Data, class _elementType>
inline vctFixedSizeVector<_elementType, _size>
operator - (const vctFixedSizeConstVectorBase<_size, _vector1Stride, _elementType, _vector1Data> & vector1,
            const vctFixedSizeConstVectorBase<_size, _vector2Stride, _elementType, _vector2Data> & vector2)
{
    vctFixedSizeVector<_elementType, _size> result;
    result.DifferenceOf(vector1, vector2);
    return result;
}



template <vct::stride_type _vector1Stride, class _vector1Data,
          vct::stride_type _vector2Stride, class _vector2Data, class _elementType>
inline vctFixedSizeVector<_elementType, 3>
vctCrossProduct(const vctFixedSizeConstVectorBase<3, _vector1Stride, _elementType, _vector1Data> & vector1,
                const vctFixedSizeConstVectorBase<3, _vector2Stride, _elementType, _vector2Data> & vector2)
{
    vctFixedSizeVector<_elementType, 3> result;
    result.CrossProductOf(vector1, vector2);
    return result;
}


template <vct::stride_type _vector1Stride, class _vector1Data,
          vct::stride_type _vector2Stride, class _vector2Data, class _elementType>
inline vctFixedSizeVector<_elementType, 3>
operator % (const vctFixedSizeConstVectorBase<3, _vector1Stride, _elementType, _vector1Data> & vector1,
            const vctFixedSizeConstVectorBase<3, _vector2Stride, _elementType, _vector2Data> & vector2)
{
    vctFixedSizeVector<_elementType, 3> result;
    result.CrossProductOf(vector1, vector2);
    return result;
}


template <vct::size_type _size, vct::stride_type _stride, class _elementType, class _dataPtrType>
inline vctFixedSizeVector<_elementType, _size>
operator + (const vctFixedSizeConstVectorBase<_size, _stride, _elementType, _dataPtrType> & vector,
            const _elementType & scalar)
{
    vctFixedSizeVector<_elementType, _size> result;
    result.SumOf(vector, scalar);
    return result;
}

/* documented above */
template <vct::size_type _size, vct::stride_type _stride, class _elementType, class _dataPtrType>
inline vctFixedSizeVector<_elementType, _size>
operator - (const vctFixedSizeConstVectorBase<_size, _stride, _elementType, _dataPtrType> & vector,
            const _elementType & scalar)
{
    vctFixedSizeVector<_elementType, _size> result;
    result.DifferenceOf(vector, scalar);
    return result;
}

/* documented above */
template <vct::size_type _size, vct::stride_type _stride, class _elementType, class _dataPtrType>
inline vctFixedSizeVector<_elementType, _size>
operator * (const vctFixedSizeConstVectorBase<_size, _stride, _elementType, _dataPtrType> & vector,
            const _elementType & scalar)
{
    vctFixedSizeVector<_elementType, _size> result;
    result.ProductOf(vector, scalar);
    return result;
}

/* documented above */
template <vct::size_type _size, vct::stride_type _stride, class _elementType, class _dataPtrType>
inline vctFixedSizeVector<_elementType, _size>
operator / (const vctFixedSizeConstVectorBase<_size, _stride, _elementType, _dataPtrType> & vector,
            const _elementType & scalar)
{
    vctFixedSizeVector<_elementType, _size> result;
    result.RatioOf(vector, scalar);
    return result;
}


template <vct::size_type _size, vct::stride_type _stride, class _elementType, class _dataPtrType>
inline vctFixedSizeVector<_elementType, _size>
operator + (const _elementType & scalar,
            const vctFixedSizeConstVectorBase<_size, _stride, _elementType, _dataPtrType> & vector)

{
    vctFixedSizeVector<_elementType, _size> result;
    result.SumOf(scalar, vector);
    return result;
}

/* documented above */
template <vct::size_type _size, vct::stride_type _stride, class _elementType, class _dataPtrType>
inline vctFixedSizeVector<_elementType, _size>
operator - (const _elementType & scalar,
            const vctFixedSizeConstVectorBase<_size, _stride, _elementType, _dataPtrType> & vector)
{
    vctFixedSizeVector<_elementType, _size> result;
    result.DifferenceOf(scalar, vector);
    return result;
}

/* documented above */
template <vct::size_type _size, vct::stride_type _stride, class _elementType, class _dataPtrType>
inline vctFixedSizeVector<_elementType, _size>
operator * (const _elementType & scalar,
            const vctFixedSizeConstVectorBase<_size, _stride, _elementType, _dataPtrType> & vector)
{
    vctFixedSizeVector<_elementType, _size> result;
    result.ProductOf(scalar, vector);
    return result;
}

/* documented above */
template <vct::size_type _size, vct::stride_type _stride, class _elementType, class _dataPtrType>
inline vctFixedSizeVector<_elementType, _size>
operator / (const _elementType & scalar,
            const vctFixedSizeConstVectorBase<_size, _stride, _elementType, _dataPtrType> & vector)
{
    vctFixedSizeVector<_elementType, _size> result;
    result.RatioOf(scalar, vector);
    return result;
}


template <vct::size_type _size, vct::stride_type _stride, class _elementType, class _dataPtrType>
inline vctFixedSizeVector<_elementType, _size>
operator - (const vctFixedSizeConstVectorBase<_size, _stride, _elementType, _dataPtrType> & vector)
{
    vctFixedSizeVector<_elementType, _size> result;
    result.NegationOf(vector);
    return result;
}


#ifndef SWIG // SWIG 1.3.22 doesn't like _size1 + _size2 for the template "instantiation" of vector
template <vct::size_type _size1, vct::stride_type _stride1, class _elementType, class _dataPtr1,
          vct::size_type _size2, vct::stride_type _stride2, class _dataPtr2>
inline vctFixedSizeVector<_elementType, _size1 + _size2>
operator & (const vctFixedSizeConstVectorBase<_size1, _stride1, _elementType, _dataPtr1> & vector1,
            const vctFixedSizeConstVectorBase<_size2, _stride2, _elementType, _dataPtr2> & vector2)
{
    vctFixedSizeVector<_elementType, _size1+_size2> result;
    vctFixedSizeVectorRef<_elementType, _size1, 1> subvector1(result.Pointer(0));
    vctFixedSizeVectorRef<_elementType, _size2, 1> subvector2(result.Pointer(_size1));
    subvector1.Assign(vector1);
    subvector2.Assign(vector2);

    return result;
}
#endif


/*
  Methods declared previously and implemented here because they require vctFixedSizeVector
*/

#ifndef DOXYGEN

/* documented in class vctFixedSizeConstVectorBase */
template <vct::size_type _size, vct::stride_type _stride, class _elementType, class _dataPtrType>
inline typename vctFixedSizeConstVectorBase<_size, _stride, _elementType, _dataPtrType>::VectorValueType
vctFixedSizeConstVectorBase<_size, _stride, _elementType, _dataPtrType>::Abs(void) const {
    vctFixedSizeVector<_elementType, _size> result;
    vctFixedSizeVectorRecursiveEngines<_size>::template
        VoVi<typename vctUnaryOperations<_elementType>::AbsValue>::
        Unfold(result, *this);
    return result;
}

/* documented in class vctFixedSizeConstVectorBase */
template <vct::size_type _size, vct::stride_type _stride, class _elementType, class _dataPtrType>
inline typename vctFixedSizeConstVectorBase<_size, _stride, _elementType, _dataPtrType>::VectorValueType
vctFixedSizeConstVectorBase<_size, _stride, _elementType, _dataPtrType>::Negation(void) const {
    vctFixedSizeVector<_elementType, _size> result;
    vctFixedSizeVectorRecursiveEngines<_size>::template
        VoVi<typename vctUnaryOperations<_elementType>::Negation>::
        Unfold(result, *this);
    return result;
}

/* documented in class vctFixedSizeConstVectorBase */
template <vct::size_type _size, vct::stride_type _stride, class _elementType, class _dataPtrType>
inline typename vctFixedSizeConstVectorBase<_size, _stride, _elementType, _dataPtrType>::VectorValueType
vctFixedSizeConstVectorBase<_size, _stride, _elementType, _dataPtrType>::Floor(void) const {
    vctFixedSizeVector<_elementType, _size> result;
    vctFixedSizeVectorRecursiveEngines<_size>::template
        VoVi<typename vctUnaryOperations<_elementType>::Floor>::
        Unfold(result, *this);
    return result;
}

/* documented in class vctFixedSizeConstVectorBase */
template <vct::size_type _size, vct::stride_type _stride, class _elementType, class _dataPtrType>
inline typename vctFixedSizeConstVectorBase<_size, _stride, _elementType, _dataPtrType>::VectorValueType
vctFixedSizeConstVectorBase<_size, _stride, _elementType, _dataPtrType>::Ceil(void) const {
    vctFixedSizeVector<_elementType, _size> result;
    vctFixedSizeVectorRecursiveEngines<_size>::template
        VoVi<typename vctUnaryOperations<_elementType>::Ceil>::
        Unfold(result, *this);
    return result;
}

/* documented in class vctFixedSizeConstVectorBase */
template <vct::size_type _size, vct::stride_type _stride, class _elementType, class _dataPtrType>
inline typename vctFixedSizeConstVectorBase<_size, _stride, _elementType, _dataPtrType>::VectorValueType
vctFixedSizeConstVectorBase<_size, _stride, _elementType, _dataPtrType>::Normalized(void) const throw(std::runtime_error) {
    vctFixedSizeVector<_elementType, _size> result(*this);
    result.NormalizedSelf();
    return result;
}

/* documented in class vctFixedSizeConstVectorBase */
template <vct::size_type _size,
          vct::stride_type _stride, class _dataPtrType,
          vct::stride_type __stride, class __dataPtrType,
          class _elementType,
          class _elementOperationType>
inline vctFixedSizeVector<bool, _size>
vctFixedSizeVectorElementwiseCompareVector(const vctFixedSizeConstVectorBase<_size, _stride, _elementType, _dataPtrType> & vector1,
                                           const vctFixedSizeConstVectorBase<_size, __stride, _elementType, __dataPtrType> & vector2) {
    vctFixedSizeVector<bool, _size> result;
    vctFixedSizeVectorRecursiveEngines<_size>::template
        VoViVi<_elementOperationType>::Unfold(result, vector1, vector2);
    return result;
}

/* documented in class vctFixedSizeConstVectorBase */
template<vct::size_type _size,
         vct::stride_type _stride, class _dataPtrType,
         class _elementType,
         class _elementOperationType>
inline vctFixedSizeVector<bool, _size>
vctFixedSizeVectorElementwiseCompareScalar(const vctFixedSizeConstVectorBase<_size, _stride, _elementType, _dataPtrType> & vector,
                                           const _elementType & scalar) {
    vctFixedSizeVector<bool, _size> result;
    vctFixedSizeVectorRecursiveEngines<_size>::template
        VoViSi<_elementOperationType>::Unfold(result, vector, scalar);
    return result;
}

#endif // DOXYGEN

#endif // _vctFixedSizeVector_h