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<div class="title">math/main.cpp</div> </div>
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<p>This example shows the basic math features available with the VectorNav library.</p>
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<h1><a class="anchor" id="vsCppMath"></a>
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Visual Studio (Windows)</h1>
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<ol type="1">
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<li>Open the solution file for your specific Visual Studio version located at <code><root>/cpp/examples/math/projects/vs20XX/math.sln</code>.</li>
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<li>Build the entire solution by going to the menu <code>BUILD -> Build Solution</code>.</li>
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<li>Right-click the project <code>math</code> and select <code>Debug -> Start new instance</code>.</li>
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</ol>
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<h1><a class="anchor" id="makeCppMath"></a>
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Make (Linux/Mac OS X)</h1>
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<ol type="1">
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<li>Open a terminal and change to the directory <code><root>/cpp/examples/math</code> .</li>
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<li>To build the example, run the command <code>make</code> .</li>
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<li>Run the example by executing the command <code>./math</code> .</li>
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</ol>
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<h1><a class="anchor" id="ClionCppMath"></a>
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CLion (Windows/Linux/Mac OS X)</h1>
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<ol type="1">
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<li>Open the project file located at <code><root>/cpp/examples/math</code> in CLion.</li>
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<li>Make sure the <code>math</code> configuration is active. You can set this by clicking the small drop-down list in the upper-right corner and selecting the option <code>math</code>.</li>
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<li>Build the solution by going to the menu <code>Run -> Build</code>.</li>
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<li>Run the example by going to the menu <code>Run -> Run 'math'</code>.</li>
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</ol>
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<h1><a class="anchor" id="otherCppMath"></a>
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Other</h1>
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<p>To compile and run for an environment not listed here, you will need to add all of the <code>*.c</code> files in the directory <code><root>/c/src</code> along with the file located at <code><root>/cpp/examples/math/main.cpp</code> to your project for compilation. You will also need to add <code><root>/cpp/include</code> to your include directories.</p>
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<div class="fragment"><div class="line"><span class="preprocessor">#include <iostream></span></div>
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<div class="line"></div>
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<div class="line"><span class="preprocessor">#include "<a class="code" href="vector_8h.html">vn/vector.h</a>"</span></div>
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<div class="line"><span class="preprocessor">#include "<a class="code" href="matrix_8h.html">vn/matrix.h</a>"</span></div>
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<div class="line"></div>
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<div class="line"><span class="keyword">using namespace </span>std;</div>
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<div class="line"><span class="keyword">using namespace </span><a class="code" href="namespacevn_1_1math.html">vn::math</a>;</div>
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<div class="line"></div>
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<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> *argv[])</div>
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<div class="line">{</div>
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<div class="line"> <span class="comment">// The VectorNav Programming Library provides structures for representing vectors and matrices.</span></div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Common vectors you will normally encounter are conveniently named. Below we create some simple vector objects.</span></div>
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<div class="line"></div>
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<div class="line"> <a name="_a0"></a><a class="code" href="structvn_1_1math_1_1vec.html">vec3f</a> v1(1.0f, 2.0f, 3.0f); <span class="comment">// An initialized 3 component vector of floats.</span></div>
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<div class="line"> <a name="_a1"></a><a class="code" href="structvn_1_1math_1_1vec.html">vec3d</a> v2(4.0, 5.0, 6.0); <span class="comment">// An initialized 3 component vector of doubles.</span></div>
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<div class="line"> <a class="code" href="structvn_1_1math_1_1vec.html">vec4f</a> v3(1.0f, 2.0f, 3.0f, 4.0f); <span class="comment">// An initialized 4 component vector of floats.</span></div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Convenience methods are provided to display vector values.</span></div>
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<div class="line"></div>
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<div class="line"> <span class="keywordtype">string</span> v1Str = str(v1);</div>
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<div class="line"> cout << <span class="stringliteral">"v1: "</span> << v1Str << endl;</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Or you can just write directly to cout.</span></div>
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<div class="line"></div>
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<div class="line"> cout << <span class="stringliteral">"v2: "</span> << v2 << endl;</div>
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<div class="line"> cout << <span class="stringliteral">"v3: "</span> << v3 << endl;</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Common vector values are readily available.</span></div>
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<div class="line"></div>
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<div class="line"> cout << <span class="stringliteral">"zero vector: "</span> << vec3f::zero() << endl;</div>
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<div class="line"> cout << <span class="stringliteral">"x-direction vector: "</span> << vec3f::unitX() << endl;</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// A variety of vector operations are available.</span></div>
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<div class="line"></div>
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<div class="line"> <a class="code" href="structvn_1_1math_1_1vec.html">vec3f</a> va(1, 2, 3);</div>
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<div class="line"> <a class="code" href="structvn_1_1math_1_1vec.html">vec3f</a> vb(4, 5, 6);</div>
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<div class="line"></div>
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<div class="line"> std::cout << <span class="stringliteral">"va: "</span> << va << std::endl;</div>
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<div class="line"> std::cout << <span class="stringliteral">"vb: "</span> << vb << std::endl;</div>
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<div class="line"></div>
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<div class="line"> cout << <span class="stringliteral">"va + vb = "</span> << va + vb << endl;</div>
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<div class="line"> cout << <span class="stringliteral">"va - vb = "</span> << va - vb << endl;</div>
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<div class="line"> cout << <span class="stringliteral">"2 * va = "</span> << 2.f * va << endl;</div>
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<div class="line"> cout << <span class="stringliteral">"va / 3 = "</span> << va / 3.f << endl;</div>
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<div class="line"> cout << <span class="stringliteral">"-va = "</span> << -va << endl;</div>
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<div class="line"> cout << <span class="stringliteral">"va magnitude = "</span> << va.<a name="a2"></a><a class="code" href="structvn_1_1math_1_1vec.html#a3d62ee03c5842e16a67b62e7c4c11ecc">mag</a>() << endl;</div>
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<div class="line"> cout << <span class="stringliteral">"va normalized = "</span> << va.<a name="a3"></a><a class="code" href="structvn_1_1math_1_1vec.html#a12ee38e4566aa64fe2dca3f72ff8e9ac">norm</a>() << endl;</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// You can also access the individual vector components in a variety of ways.</span></div>
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<div class="line"></div>
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<div class="line"> cout << <span class="stringliteral">"va y-component: "</span> << va.y << endl;</div>
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<div class="line"> cout << <span class="stringliteral">"va z-component: "</span> << va[2] << endl;</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Although you will probably use the conveniently named vectors, sometime you will need a more specialized version.</span></div>
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<div class="line"> <span class="comment">// Because the vectors are based on a template structure, you can easily create the type you need.</span></div>
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<div class="line"></div>
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<div class="line"> <a class="code" href="structvn_1_1math_1_1vec.html">vec<5, unsigned short></a> v4(7); <span class="comment">// 5 component vector of unsigned shorts, all components initialized to the value of 7.</span></div>
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<div class="line"> <a class="code" href="structvn_1_1math_1_1vec.html">vec<10, bool></a> v5(<span class="keyword">true</span>); <span class="comment">// 10 component vector of bools, all components initialized to the value of true.</span></div>
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<div class="line"></div>
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<div class="line"> cout << <span class="stringliteral">"v4: "</span> << v4 << endl;</div>
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<div class="line"> cout << <span class="stringliteral">"v5: "</span> << v5 << endl;</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// You may often find yourself working with matrices so we show some examples using the provided matrix structures.</span></div>
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<div class="line"></div>
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<div class="line"> <a name="_a4"></a><a class="code" href="structvn_1_1math_1_1mat.html">mat3f</a> m1(1, 2, 3, 4, 5, 6, 7, 8, 9); <span class="comment">// 3x3 matrix of floats.</span></div>
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<div class="line"> <a class="code" href="structvn_1_1math_1_1mat.html">mat2d</a> m2(1, 2, 3, 4); <span class="comment">// 2x2 matrix of doubles.</span></div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// As with vectors, there are convenient string functions.</span></div>
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<div class="line"></div>
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<div class="line"> <span class="keywordtype">string</span> m1Str = str(m1);</div>
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<div class="line"> cout << <span class="stringliteral">"m1: "</span> << m1Str << endl;</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Again, you can just write the matrix out to cout.</span></div>
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<div class="line"></div>
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<div class="line"> cout << <span class="stringliteral">"m2: "</span> << m2 << endl;</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Common matrix values are readily available.</span></div>
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<div class="line"></div>
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<div class="line"> cout << <span class="stringliteral">"one 3x3 matrix: "</span> << mat3f::one() << endl;</div>
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<div class="line"> cout << <span class="stringliteral">"identity 3x3 matrix: "</span> << mat3f::identity() << endl;</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// A variety of matrix operations are available.</span></div>
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<div class="line"></div>
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<div class="line"> <a class="code" href="structvn_1_1math_1_1mat.html">mat3f</a> ma(1, 2, 3, 4, 5, 6, 7, 8, 9);</div>
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<div class="line"> <a class="code" href="structvn_1_1math_1_1mat.html">mat3f</a> mb = mat3f::one();</div>
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<div class="line"></div>
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<div class="line"> cout << <span class="stringliteral">"ma + mb = "</span> << ma + mb << endl;</div>
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<div class="line"> cout << <span class="stringliteral">"ma - mb = "</span> << ma - mb << endl;</div>
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<div class="line"> cout << <span class="stringliteral">"2 * ma = "</span> << 2.f * ma << endl;</div>
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<div class="line"> cout << <span class="stringliteral">"ma / 3 = "</span> << ma / 3.f << endl;</div>
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<div class="line"> cout << <span class="stringliteral">"-ma = "</span> << -ma << endl;</div>
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<div class="line"> cout << <span class="stringliteral">"ma transpose = "</span> << ma.<a name="a5"></a><a class="code" href="structvn_1_1math_1_1mat.html#ad787d0b22c792da3964b34bc8b1ace60">transpose</a>() << endl;</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Access to the individual matrix elements is illustrated below.</span></div>
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<div class="line"></div>
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<div class="line"> cout << <span class="stringliteral">"0,0 element of ma: "</span> << ma.e00 << endl;</div>
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<div class="line"> cout << <span class="stringliteral">"0,1 element of ma: "</span> << ma(0,1) << endl;</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// You can also create different sizes and underlying data types for the matrices because of templating.</span></div>
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<div class="line"></div>
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<div class="line"> <a class="code" href="structvn_1_1math_1_1mat.html">mat<2, 3, short></a> m4(7); <span class="comment">// 2x3 matrix of shorts, all elements initialized to the value of 7.</span></div>
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<div class="line"> <a class="code" href="structvn_1_1math_1_1mat.html">mat<3, 7, bool></a> m5(<span class="keyword">true</span>); <span class="comment">// 3x7 matrix of bools, all elements initialized to the value of true.</span></div>
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<div class="line"></div>
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<div class="line"> cout << <span class="stringliteral">"m4: "</span> << m4 << endl;</div>
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<div class="line"> cout << <span class="stringliteral">"m5: "</span> << m5 << endl;</div>
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<div class="line"></div>
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<div class="line"> <span class="keywordflow">return</span> 0;</div>
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<div class="line">}</div>
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