vectors.h

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// ----------------------------------------------------------------------------
// VECTOR OBJECT DEFINITION
// 
// Created By: Michael Wrona
// Created: 16 Feb 2021
// ----------------------------------------------------------------------------
#pragma once
 
#include <Arduino.h>
#include "hummingbird_config.h"
 
#if defined(DEBUG) && defined(DEBUG_PORT)
/* Enable a message to signal when a vector was created and destroyed */
// #define VECTOR_OBJ_DEBUG
#endif
 
 
#define VECTOR_ELEMENT(VEC, i) VEC[i]
// #define VECTOR_ELEMENT(VEC, i) *(VEC + i)
 
 
class Vectorf {
public:
    // --------------------------------------------------------------------
    // Vectorf(size_t len)
    // --------------------------------------------------------------------
    Vectorf(size_t len = 3)
    {
        size_t i;
        float initVal = 0.0f;  // Value to initialize and fill array with
 
        this->len = len;
 
        // Create the array on the heap (RAM2 on Teensy 4.1)
        this->vec = new float[this->len];
        
        
        // Init. values
        for (i = 0; i < this->len; i++)
            this->vec[i] = initVal;
 
 
        #ifdef VECTOR_OBJ_DEBUG
            DEBUG_PORT.print("Created "); DEBUG_PORT.print(this->len);
            DEBUG_PORT.print("x1"); DEBUG_PORT.println(" vector");
        #endif
    }
 
    // --------------------------------------------------------------------
    // GetNorm()
    // --------------------------------------------------------------------
    float GetNorm()
    {
        size_t i;
        float sumsq;
        float vecNorm;
 
        for (i = 0; i < this->len; i++)
            sumsq += (this->vec[i] * this->vec[i]);
        
        vecNorm = sqrtf(sumsq);
        
        return vecNorm;
    }
 
 
    #ifdef VECTOR_OBJ_DEBUG
    void PrintToDebug(size_t decimals = 4)
    {
        size_t i;
 
        // Cannot print more than 7 decimals for floats...
        if (decimals >= 7)
            decimals = 4;
 
        DEBUG_PORT.print("[");
        for (i = 0; i < this->len; i++)
        {
            DEBUG_PORT.print(VECTOR_ELEMENT(this->vec, i), decimals);
            DEBUG_PORT.print((i != this->len - 1) ? ", " : " ");
        }
        DEBUG_PORT.println("]");
        DEBUG_PORT.println("");  // Newline to help separate vectors
    }
    #endif
    
    
    /* VARIABLES */
    size_t len;  // Length of the vector, # of elements
    float *vec;  // Pointer to the array/vector
 
 
    /*  Deconstruct/deallocate the vector once it goes out-of-scope.  */
    ~Vectorf()
    {
        delete[] this->vec;
 
        #ifdef VECTOR_OBJ_DEBUG
            DEBUG_PORT.print("Deallocated "); DEBUG_PORT.print(this->len);
            DEBUG_PORT.print("x1"); DEBUG_PORT.println(" vector");
        #endif
    }
protected:
private:
};
 
 
class Vectord {
public:
    // --------------------------------------------------------------------
    // Vectord(size_t len)
    // --------------------------------------------------------------------
    Vectord(size_t len = 3)
    {
        size_t i;
        double initVal = 0.0;  // Value to initialize and fill array with
 
        this->len = len;
 
        // Create the array on the heap (RAM2 on Teensy 4.1)
        this->vec = new double[this->len];
        
        // Init. values
        for (i = 0; i < this->len; i++)
            this->vec[i] = initVal;
 
 
        #ifdef VECTOR_OBJ_DEBUG
            DEBUG_PORT.print("Created "); DEBUG_PORT.print(this->len);
            DEBUG_PORT.print("x1"); DEBUG_PORT.println(" vector");
        #endif
    }
 
    // --------------------------------------------------------------------
    // GetNorm()
    // --------------------------------------------------------------------
    double GetNorm()
    {
        size_t i;
        double sumsq;
        double vecNorm;
 
        for (i = 0; i < this->len; i++)
            sumsq += (this->vec[i] * this->vec[i]);
        
        vecNorm = sqrt(sumsq);
        
        return vecNorm;
    }
 
 
    #ifdef VECTOR_OBJ_DEBUG
    void PrintToDebug(size_t decimals = 4)
    {
        size_t i;
 
        DEBUG_PORT.print("[");
        for (i = 0; i < this->len; i++)
        {
            DEBUG_PORT.print(VECTOR_ELEMENT(this->vec, i), decimals);
            DEBUG_PORT.print((i != this->len - 1) ? ", " : " ");
        }
        DEBUG_PORT.println("]");
        DEBUG_PORT.println("");  // Newline to help separate vectors
    }
    #endif
    
    
    /* VARIABLES */
    size_t len;  // Length of the vector, # of elements
    double *vec;  // Pointer to the array/vector
 
 
    /*  Deconstruct/deallocate the vector once it goes out-of-scope.  */
    ~Vectord()
    {
        delete[] this->vec;
 
        #ifdef VECTOR_OBJ_DEBUG
            DEBUG_PORT.print("Deallocated "); DEBUG_PORT.print(this->len);
            DEBUG_PORT.print("x1"); DEBUG_PORT.println(" vector");
        #endif
    }
protected:
private:
};