A minimized version of vectors for embedded devices without access to the STL (such as on an Arduino, hence the ".h" instead of ".hpp"). More...

#include <math.h>

Include dependency graph for embed.h:

Go to the source code of this file.

Classes
struct	svector::EmbVec2D
	A minimal 2D vector representation. More...

struct	svector::EmbVec3D
	A minimal 3D vector representation. More...

Functions
float	svector::x (const EmbVec2D &v)
	Gets the x-component of a 2D vector. More...

void	svector::x (EmbVec2D &v, const float xValue)
	Sets the x-component of a 2D vector. More...

float	svector::x (const EmbVec3D &v)
	Gets the x-component of a 3D vector. More...

void	svector::x (EmbVec3D &v, const float xValue)
	Sets the x-component of a 3D vector. More...

float	svector::y (const EmbVec2D &v)
	Gets the y-component of a 2D vector. More...

void	svector::y (EmbVec2D &v, const float yValue)
	Sets the y-component of a 2D vector. More...

float	svector::y (const EmbVec3D &v)
	Gets the y-component of a 3D vector. More...

void	svector::y (EmbVec3D &v, const float yValue)
	Sets the y-component of a 3D vector. More...

float	svector::z (const EmbVec3D &v)
	Gets the z-component of a 3D vector. More...

void	svector::z (EmbVec3D &v, const float zValue)
	Sets the z-component of a 3D vector. More...

EmbVec2D	svector::operator+ (const EmbVec2D &lhs, const EmbVec2D &rhs)
	Vector addition. More...

EmbVec2D	svector::operator- (const EmbVec2D &lhs, const EmbVec2D &rhs)
	Vector subtraction. More...

EmbVec2D	svector::operator- (const EmbVec2D &vec)
	Negative of a vector. More...

EmbVec2D	svector::operator+ (const EmbVec2D &vec)
	Positive of a vector. More...

EmbVec2D	svector::operator* (const EmbVec2D &lhs, const float rhs)
	Scalar multiplication. More...

EmbVec2D	svector::operator/ (const EmbVec2D &lhs, const float rhs)
	Scalar division. More...

bool	svector::operator== (const EmbVec2D &lhs, const EmbVec2D &rhs)
	Compares equality of two vectors. More...

bool	svector::operator!= (const EmbVec2D &lhs, const EmbVec2D &rhs)
	Compares inequality of two vectors. More...

float	svector::dot (const EmbVec2D &lhs, const EmbVec2D &rhs)
	Calculates the dot product of two vectors. More...

float	svector::magn (const EmbVec2D &vec)
	Gets the magnitude of the vector. More...

float	svector::angle (const EmbVec2D &vec)
	Gets the angle of a 2D vector in radians. More...

EmbVec2D	svector::normalize (const EmbVec2D &vec)
	Normalizes a vector. More...

bool	svector::isZero (const EmbVec2D &vec)
	Determines whether a vector is a zero vector. More...

EmbVec2D	svector::rotate (const EmbVec2D &vec, const float ang)
	Rotates vector by a certain angle. More...

EmbVec3D	svector::operator+ (const EmbVec3D &lhs, const EmbVec3D &rhs)
	Vector addition. More...

EmbVec3D	svector::operator- (const EmbVec3D &lhs, const EmbVec3D &rhs)
	Vector subtraction. More...

EmbVec3D	svector::operator- (const EmbVec3D &vec)
	Negative of a vector. More...

EmbVec3D	svector::operator+ (const EmbVec3D &vec)
	Positive of a vector. More...

EmbVec3D	svector::operator* (const EmbVec3D &lhs, const float rhs)
	Scalar multiplication. More...

EmbVec3D	svector::operator/ (const EmbVec3D &lhs, const float rhs)
	Scalar division. More...

bool	svector::operator== (const EmbVec3D &lhs, const EmbVec3D &rhs)
	Compares equality of two vectors. More...

bool	svector::operator!= (const EmbVec3D &lhs, const EmbVec3D &rhs)
	Compares inequality of two vectors. More...

float	svector::dot (const EmbVec3D &lhs, const EmbVec3D &rhs)
	Calculates the dot product of two vectors. More...

EmbVec3D	svector::cross (const EmbVec3D &lhs, const EmbVec3D &rhs)
	Cross product of two vectors. More...

float	svector::magn (const EmbVec3D &vec)
	Gets the magnitude of the vector. More...

EmbVec3D	svector::normalize (const EmbVec3D &vec)
	Normalizes a vector. More...

bool	svector::isZero (const EmbVec3D &vec)
	Determines whether a vector is a zero vector. More...

float	svector::alpha (const EmbVec3D &vec)
	Gets α angle. More...

float	svector::beta (const EmbVec3D &vec)
	Gets β angle. More...

float	svector::gamma (const EmbVec3D &vec)
	Gets γ angle. More...

EmbVec3D	svector::rotateAlpha (const EmbVec3D &vec, const float ang)
	Rotates around x-axis. More...

EmbVec3D	svector::rotateBeta (const EmbVec3D &vec, const float ang)
	Rotates around y-axis. More...

EmbVec3D	svector::rotateGamma (const EmbVec3D &vec, const float ang)
	Rotates around z-axis. More...

Detailed Description

A minimized version of vectors for embedded devices without access to the STL (such as on an Arduino, hence the ".h" instead of ".hpp").

This file is meant to be a standalone file, so it is not included in vectors.hpp.

Copyright: Copyright (c) 2023 Jonathan Liu. This project is released under the MIT License. All rights reserved.

Function Documentation

◆ alpha()

float svector::alpha ( const EmbVec3D & vec )

inline

Gets α angle.

α is the angle between the vector and the x-axis.

Note: This method will result in undefined behavior if the vector is a zero vector (if the magnitude equals zero).

Parameters

vec	A 3D Vector.

Returns: α.

◆ angle()

float svector::angle ( const EmbVec2D & vec )

inline

Gets the angle of a 2D vector in radians.

The angle will be in the range (-π, π].

Parameters

vec	A 2D vector.

Returns: angle of the vector.

◆ beta()

float svector::beta ( const EmbVec3D & vec )

inline

Gets β angle.

β is the angle between the vector and the y-axis.

Note: This method will result in undefined behavior if the vector is a zero vector (if the magnitude equals zero).

Parameters

vec	A 3D Vector.

Returns: β.

◆ cross()

EmbVec3D svector::cross	(	const EmbVec3D &	lhs,
		const EmbVec3D &	rhs
	)

inline

Cross product of two vectors.

Parameters

lhs	A 3D vector.
rhs	A 3D vector.

Returns: The crossed 3D vector.

◆ dot() [1/2]

float svector::dot	(	const EmbVec2D &	lhs,
		const EmbVec2D &	rhs
	)

inline

Calculates the dot product of two vectors.

Parameters

lhs	First vector.
rhs	Second vector.

Returns: The dot product of lhs and rhs.

◆ dot() [2/2]

float svector::dot	(	const EmbVec3D &	lhs,
		const EmbVec3D &	rhs
	)

inline

Calculates the dot product of two vectors.

Parameters

lhs	First vector.
rhs	Second vector.

Returns: The dot product of lhs and rhs.

◆ gamma()

float svector::gamma ( const EmbVec3D & vec )

inline

Gets γ angle.

γ is the angle between the vector and the z-axis.

Note: This method will result in undefined behavior if the vector is a zero vector (if the magnitude equals zero).

Parameters

vec	A 3D Vector.

Returns: γ.

◆ isZero() [1/2]

bool svector::isZero ( const EmbVec2D & vec )

inline

Determines whether a vector is a zero vector.

Returns: Whether the given vector is a zero vector.

◆ isZero() [2/2]

bool svector::isZero ( const EmbVec3D & vec )

inline

Determines whether a vector is a zero vector.

Returns: Whether the given vector is a zero vector.

◆ magn() [1/2]

float svector::magn ( const EmbVec2D & vec )

inline

Gets the magnitude of the vector.

Parameters

vec	A 2D vector.

Returns: magnitude of vector.

◆ magn() [2/2]

float svector::magn ( const EmbVec3D & vec )

inline

Gets the magnitude of the vector.

Parameters

vec	A 3D vector.

Returns: magnitude of vector

◆ normalize() [1/2]

EmbVec2D svector::normalize ( const EmbVec2D & vec )

inline

Normalizes a vector.

Finds the unit vector with the same direction angle as the current vector.

Note: This method will result in undefined behavior if the vector is a zero vector (if the magnitude equals zero).

Parameters

vec	A 2D vector.

Returns: Normalized vector.

◆ normalize() [2/2]

EmbVec3D svector::normalize ( const EmbVec3D & vec )

inline

Normalizes a vector.

Finds the unit vector with the same direction angle as the current vector.

Note: This method will result in undefined behavior if the vector is a zero vector (if the magnitude equals zero).

Parameters

vec	A 3D vector.

Returns: Normalized vector.

◆ operator!=() [1/2]

bool svector::operator!=	(	const EmbVec2D &	lhs,
		const EmbVec2D &	rhs
	)

inline

Compares inequality of two vectors.

Parameters

lhs	The first vector.
rhs	The second vector.

Returns: A boolean representing whether the two vectors do not compare equal.

◆ operator!=() [2/2]

bool svector::operator!=	(	const EmbVec3D &	lhs,
		const EmbVec3D &	rhs
	)

inline

Compares inequality of two vectors.

Parameters

lhs	The first vector.
rhs	The second vector.

Returns: A boolean representing whether the two vectors do not compare equal.

◆ operator*() [1/2]

EmbVec2D svector::operator*	(	const EmbVec2D &	lhs,
		const float	rhs
	)

inline

Scalar multiplication.

Performs scalar multiplication and returns a new vector representing the product.

Parameters

lhs	The first vector.
rhs	The second vector.

Returns: A new vector representing the scalar product.

◆ operator*() [2/2]

EmbVec3D svector::operator*	(	const EmbVec3D &	lhs,
		const float	rhs
	)

inline

Scalar multiplication.

Performs scalar multiplication and returns a new vector representing the product.

Parameters

lhs	The first vector.
rhs	The second vector.

Returns: A new vector representing the scalar product.

◆ operator+() [1/4]

EmbVec2D svector::operator+	(	const EmbVec2D &	lhs,
		const EmbVec2D &	rhs
	)

inline

Vector addition.

Performs vector addition and returns a new vector representing the sum of the two vectors.

Parameters

lhs	The first vector.
rhs	The second vector.

Returns: A new vector representing the vector sum.

◆ operator+() [2/4]

EmbVec2D svector::operator+ ( const EmbVec2D & vec )

inline

Positive of a vector.

Represents value of vector, with the unary plus operator applied to each component. In almost all cases, this should result in the original vector.

Parameters

vec	A 2D vector.

Returns: The same 2D vector.

◆ operator+() [3/4]

EmbVec3D svector::operator+	(	const EmbVec3D &	lhs,
		const EmbVec3D &	rhs
	)

inline

Vector addition.

Performs vector addition and returns a new vector representing the sum of the two vectors.

Parameters

lhs	The first vector.
rhs	The second vector.

Returns: A new vector representing the vector sum.

◆ operator+() [4/4]

EmbVec3D svector::operator+ ( const EmbVec3D & vec )

inline

Positive of a vector.

Represents value of vector, with the unary plus operator applied to each component. In almost all cases, this should result in the original vector.

Parameters

vec	A 3D vector.

Returns: The same 3D vector.

◆ operator-() [1/4]

EmbVec2D svector::operator-	(	const EmbVec2D &	lhs,
		const EmbVec2D &	rhs
	)

inline

Vector subtraction.

Performs vector subtraction and returns a new vector representing the difference of the two vectors.

Parameters

lhs	The first vector.
rhs	The second vector.

Returns: A new vector representing the vector sum.

◆ operator-() [2/4]

EmbVec2D svector::operator- ( const EmbVec2D & vec )

inline

Negative of a vector.

Makes all components of a vector negative.

This can also be thought of flipping the direction of the vector.

Parameters

vec	A 2D vector.

Returns: A new vector representing the negative of the given vector.

◆ operator-() [3/4]

EmbVec3D svector::operator-	(	const EmbVec3D &	lhs,
		const EmbVec3D &	rhs
	)

inline

Vector subtraction.

Performs vector subtraction and returns a new vector representing the difference of the two vectors.

Parameters

lhs	The first vector.
rhs	The second vector.

Returns: A new vector representing the vector sum.

◆ operator-() [4/4]

EmbVec3D svector::operator- ( const EmbVec3D & vec )

inline

Negative of a vector.

Makes all components of a vector negative of what they currently are.

This can also be thought of flipping the direction of the vector.

Parameters

vec	A 3D vector.

Returns: A new vector representing the negative of the given vector.

◆ operator/() [1/2]

EmbVec2D svector::operator/	(	const EmbVec2D &	lhs,
		const float	rhs
	)

inline

Scalar division.

Performs scalar division and returns a new vector representing the quotient.

Parameters

lhs	The first vector.
rhs	The second vector.

Returns: A new vector representing the scalar product.

◆ operator/() [2/2]

EmbVec3D svector::operator/	(	const EmbVec3D &	lhs,
		const float	rhs
	)

inline

Scalar division.

Performs scalar division and returns a new vector representing the quotient.

Parameters

lhs	The first vector.
rhs	The second vector.

Returns: A new vector representing the scalar product.

◆ operator==() [1/2]

bool svector::operator==	(	const EmbVec2D &	lhs,
		const EmbVec2D &	rhs
	)

inline

Compares equality of two vectors.

Parameters

lhs	The first vector.
rhs	The second vector.

Returns: A boolean representing whether the two vectors compare equal.

◆ operator==() [2/2]

bool svector::operator==	(	const EmbVec3D &	lhs,
		const EmbVec3D &	rhs
	)

inline

Compares equality of two vectors.

Parameters

lhs	The first vector.
rhs	The second vector.

Returns: A boolean representing whether the two vectors compare equal.

◆ rotate()

EmbVec2D svector::rotate	(	const EmbVec2D &	vec,
		const float	ang
	)

inline

Rotates vector by a certain angle.

The angle should be given in radians. The vector rotates counterclockwise when the angle is positive and clockwise when the angle is negative.

Parameters

vec	A 2D vector.
ang	the angle to rotate the vector, in radians.

Returns: a new, rotated vector.

◆ rotateAlpha()

EmbVec3D svector::rotateAlpha	(	const EmbVec3D &	vec,
		const float	ang
	)

inline

Rotates around x-axis.

Uses the basic gimbal-like 3D rotation matrices for rotation.

Parameters

vec	A 3D vector.
ang	The angle to rotate the vector, in radians.

Returns: A new, rotated vector.

◆ rotateBeta()

EmbVec3D svector::rotateBeta	(	const EmbVec3D &	vec,
		const float	ang
	)

inline

Rotates around y-axis.

Uses the basic gimbal-like 3D rotation matrices for rotation.

Parameters

vec	A 3D vector.
ang	The angle to rotate the vector, in radians.

Returns: A new, rotated vector.

◆ rotateGamma()

EmbVec3D svector::rotateGamma	(	const EmbVec3D &	vec,
		const float	ang
	)

inline

Rotates around z-axis.

Uses the basic gimbal-like 3D rotation matrices for rotation.

Parameters

vec	A 3D vector.
ang	The angle to rotate the vector, in radians.

Returns: A new, rotated vector.

◆ x() [1/4]

float svector::x ( const EmbVec2D & v )

inline

Gets the x-component of a 2D vector.

Parameters

v	A 2D Vector.

Returns: x-component of the vector.

◆ x() [2/4]

float svector::x ( const EmbVec3D & v )

inline

Gets the x-component of a 3D vector.

Parameters

v	A 3D Vector.

Returns: x-component of the vector.

◆ x() [3/4]

void svector::x	(	EmbVec2D &	v,
		const float	xValue
	)

inline

Sets the x-component of a 2D vector.

Parameters

v	A 2D Vector.
xValue	The x-value to set to the vector.

◆ x() [4/4]

void svector::x	(	EmbVec3D &	v,
		const float	xValue
	)

inline

Sets the x-component of a 3D vector.

Parameters

v	A 3D Vector.
xValue	The x-value to set to the vector.

◆ y() [1/4]

float svector::y ( const EmbVec2D & v )

inline

Gets the y-component of a 2D vector.

Parameters

v	A 2D Vector.

Returns: y-component of the vector.

◆ y() [2/4]

float svector::y ( const EmbVec3D & v )

inline

Gets the y-component of a 3D vector.

Parameters

v	A 3D Vector.

Returns: y-component of the vector.

◆ y() [3/4]

void svector::y	(	EmbVec2D &	v,
		const float	yValue
	)

inline

Sets the y-component of a 2D vector.

Parameters

v	A 2D Vector.
yValue	The y-value to set to the vector.

◆ y() [4/4]

void svector::y	(	EmbVec3D &	v,
		const float	yValue
	)

inline

Sets the y-component of a 3D vector.

Parameters

v	A 3D Vector.
yValue	The y value to set to the vector.

◆ z() [1/2]

float svector::z ( const EmbVec3D & v )

inline

Gets the z-component of a 3D vector.

Parameters

v	A 3D Vector.

Returns: z-component of the vector.

◆ z() [2/2]

void svector::z	(	EmbVec3D &	v,
		const float	zValue
	)

inline

Sets the z-component of a 3D vector.

Parameters

v	A 3D Vector.
zValue	The z value to set to the vector.

Classes

Functions

Detailed Description

Function Documentation

◆ alpha()

◆ angle()

◆ beta()

◆ cross()

◆ dot() [1/2]

◆ dot() [2/2]

◆ gamma()

◆ isZero() [1/2]

◆ isZero() [2/2]

◆ magn() [1/2]

◆ magn() [2/2]

◆ normalize() [1/2]

◆ normalize() [2/2]

◆ operator!=() [1/2]

◆ operator!=() [2/2]

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator+() [1/4]

◆ operator+() [2/4]

◆ operator+() [3/4]

◆ operator+() [4/4]

◆ operator-() [1/4]

◆ operator-() [2/4]

◆ operator-() [3/4]

◆ operator-() [4/4]

◆ operator/() [1/2]

◆ operator/() [2/2]

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ rotate()

◆ rotateAlpha()

◆ rotateBeta()

◆ rotateGamma()

◆ x() [1/4]

◆ x() [2/4]

◆ x() [3/4]

◆ x() [4/4]

◆ y() [1/4]

◆ y() [2/4]

◆ y() [3/4]

◆ y() [4/4]

◆ z() [1/2]

◆ z() [2/2]