Point Cloud Library (PCL)  1.12.1-dev
float3_operations.h
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36  * Author: Raphael Favier, Technical University Eindhoven, (r.mysurname <aT> tue.nl)
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39 
40 #include <iostream>
41 
42 namespace pcl
43 {
44  namespace gpu
45  {
46  namespace kinfuLS
47  {
48  inline float
49  dot(const float3& v1, const float3& v2)
50  {
51  return v1.x * v2.x + v1.y*v2.y + v1.z*v2.z;
52  }
53 
54  inline float3&
55  operator+=(float3& vec, const float& v)
56  {
57  vec.x += v; vec.y += v; vec.z += v; return vec;
58  }
59 
60  inline float3&
61  operator+=(float3& vec, const float3& v)
62  {
63  vec.x += v.x; vec.y += v.y; vec.z += v.z; return vec;
64  }
65 
66  inline float3
67  operator+(const float3& v1, const float3& v2)
68  {
69  return make_float3 (v1.x + v2.x, v1.y + v2.y, v1.z + v2.z);
70  }
71 
72  inline float3&
73  operator*=(float3& vec, const float& v)
74  {
75  vec.x *= v; vec.y *= v; vec.z *= v; return vec;
76  }
77 
78  inline float3&
79  operator-=(float3& vec, const float& v)
80  {
81  vec.x -= v; vec.y -= v; vec.z -= v; return vec;
82  }
83 
84  inline float3&
85  operator-=(float3& vec, const float3& v)
86  {
87  vec.x -= v.x; vec.y -= v.y; vec.z -= v.z; return vec;
88  }
89 
90  inline float3
91  operator-(const float3& v1, const float3& v2)
92  {
93  return make_float3 (v1.x - v2.x, v1.y - v2.y, v1.z - v2.z);
94  }
95 
96  inline float3
97  operator-(const float3& v1)
98  {
99  return make_float3 (-v1.x, -v1.y, -v1.z);
100  }
101 
102  inline float3
103  operator-(float3& v1)
104  {
105  v1.x = -v1.x; v1.y = -v1.y; v1.z = -v1.z; return v1;
106  }
107 
108  inline float3
109  operator*(const float3& v1, const float& v)
110  {
111  return make_float3 (v1.x * v, v1.y * v, v1.z * v);
112  }
113 
114  inline float
115  norm(const float3& v)
116  {
117  return sqrt (dot (v, v));
118  }
119 
120  inline std::ostream&
121  operator << (std::ostream& os, const float3& v1)
122  {
123  os << "[" << v1.x << ", " << v1.y << ", " << v1.z<< "]";
124  return (os);
125  }
126 
127  /*inline float3
128  normalized(const float3& v)
129  {
130  return v * rsqrt(dot(v, v));
131  }*/
132 
133  inline float3
134  cross(const float3& v1, const float3& v2)
135  {
136  return make_float3 (v1.y * v2.z - v1.z * v2.y, v1.z * v2.x - v1.x * v2.z, v1.x * v2.y - v1.y * v2.x);
137  }
138  }
139  }
140 }
float3 & operator-=(float3 &vec, const float &v)
float3 & operator*=(float3 &vec, const float &v)
float3 operator-(const float3 &v1, const float3 &v2)
float3 operator+(const float3 &v1, const float3 &v2)
float norm(const float3 &v)
std::ostream & operator<<(std::ostream &os, const float3 &v1)
float3 operator*(const float3 &v1, const float &v)
float3 cross(const float3 &v1, const float3 &v2)
float dot(const float3 &v1, const float3 &v2)
float3 & operator+=(float3 &vec, const float &v)