Commit 57c6481e authored by Jesse Mapel's avatar Jesse Mapel
Browse files

Added Orientations operations (#360) 

* Ticked version #

* Added Orientations::inverse

* Added Orientation inverse test

* Added Orientation multiplication operaotrs

* Added Vector operators

* Now using new operator

* Improved docs

* Small fix for exported target
parent 8bda7736

CMakeLists.txt

+3 −2
Original line number Diff line number Diff line
@@ -7,7 +7,7 @@ 
# Specify the required version of CMake.

# cmake 3.10 required for ctest/gtest integration

cmake_minimum_required(VERSION 3.10)

project(ale VERSION 0.8.0 DESCRIPTION "Abstraction Library for Ephemerides ")

project(ale VERSION 0.8.1 DESCRIPTION "Abstraction Library for Ephemerides ")



# include what we need

include(GNUInstallDirs)
@@ -53,7 +53,8 @@ set(ALE_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/src/InterpUtils.cpp 
                  ${CMAKE_CURRENT_SOURCE_DIR}/src/Orientations.cpp

                  ${CMAKE_CURRENT_SOURCE_DIR}/src/States.cpp

                  ${CMAKE_CURRENT_SOURCE_DIR}/src/Isd.cpp

                  ${CMAKE_CURRENT_SOURCE_DIR}/src/Util.cpp)

                  ${CMAKE_CURRENT_SOURCE_DIR}/src/Util.cpp

                  ${CMAKE_CURRENT_SOURCE_DIR}/src/Vectors.cpp)

set(ALE_HEADER_FILES ${ALE_BUILD_INCLUDE_DIR}/InterpUtils.h

                     ${ALE_BUILD_INCLUDE_DIR}/Rotation.h

                     ${ALE_BUILD_INCLUDE_DIR}/Orientations.h

cmake/config.cmake.in

+1 −0
Original line number Diff line number Diff line
@@ -3,5 +3,6 @@ set(${CMAKE_FIND_PACKAGE_NAME}_CONFIG ${CMAKE_CURRENT_LIST_FILE}) 
find_package_handle_standard_args(@PROJECT_NAME@ CONFIG_MODE)



if(NOT TARGET @PROJECT_NAME@::ale)

    find_package(nlohmann_json REQUIRED)

    include("${CMAKE_CURRENT_LIST_DIR}/aleTargets.cmake")

endif()

include/ale/Orientations.h

+24 −0
Original line number Diff line number Diff line
@@ -71,15 +71,35 @@ namespace ale { 
      bool invert=false

    ) const;



    /**

     * Add an additional constant multiplication.

     * This is equivalent to left multiplication by a constant rotation

     */

    Orientations &addConstantRotation(const Rotation &addedConst);



    /**

     * Multiply this orientation by another orientation

     */

    Orientations &operator*=(const Orientations &rhs);



    /**

     * Multiply this orientation by a constant rotation

     */

    Orientations &operator*=(const Rotation &rhs);



    /**

     * Invert the orientations.

     * Note that inverting a set of orientations twice does not result in

     * the original orientations. the constant rotation is applied after the

     * time dependent rotation. This means in the inverse, the constant

     * rotation is applied first and then the time dependent rotation.

     * So, the inverted set of orientations is entirely time dependent.

     * Then, the original constant rotations cannot be recovered when inverting

     * again. The set of orientations will still operate the same way, but its

     * internal state will not be the same.

     */

     Orientations inverse() const;



  private:

    std::vector<Rotation> m_rotations;

    std::vector<ale::Vec3d> m_avs;
@@ -88,6 +108,10 @@ namespace ale { 
    std::vector<int> m_constFrames;

    Rotation m_constRotation;

  };



  Orientations operator*(Orientations lhs, const Rotation &rhs);

  Orientations operator*(const Rotation &lhs, Orientations rhs);

  Orientations operator*(Orientations lhs, const Orientations &rhs);

}



#endif

include/ale/Vectors.h

+29 −0
Original line number Diff line number Diff line
@@ -2,6 +2,7 @@ 
#define ALE_VECTORS_H



#include <stdexcept>

#include <vector>



namespace ale {

  /** A 3D cartesian vector */
@@ -22,7 +23,35 @@ namespace ale { 


    Vec3d(double x, double y, double z) : x(x), y(y), z(z) {};

    Vec3d() : x(0.0), y(0.0), z(0.0) {};

    Vec3d &operator*=(double scalar) {

      x *= scalar;

      y *= scalar;

      z *= scalar;

      return *this;

    };



    Vec3d &operator+=(Vec3d addend) {

      x += addend.x;

      y += addend.y;

      z += addend.z;

      return *this;

    };



    Vec3d &operator-=(Vec3d addend) {

      x -= addend.x;

      y -= addend.y;

      z -= addend.z;

      return *this;

    };

  };



  Vec3d operator*(double scalar, Vec3d vec);



  Vec3d operator*(Vec3d vec, double scalar);



  Vec3d operator+(Vec3d leftVec, const Vec3d &rightVec);



  Vec3d operator-(Vec3d leftVec, const Vec3d &rightVec);

}



#endif

setup.py

+1 −1
Original line number Diff line number Diff line
@@ -4,7 +4,7 @@ import sys 
from setuptools import setup, find_packages



NAME = "Ale"

VERSION = "0.8.0"

VERSION = "0.8.1"



# To install the library, run the following

#