A vector wrapper that enforces units for each element. More...

#include <valkyrie/util/eigenunit/UnitVector.h>

Public Types
using	StorageType = Eigen::Matrix<double, Size, 1>
	The underlying Eigen storage type.
using	UnitTuple = std::tuple<UnitTags...>
	A tuple of the unit tags.

Public Member Functions
constexpr	UnitVector ()
	Default constructor. Initializes all elements to zero.
constexpr	UnitVector (const StorageType &d)
	Construct from a raw Eigen matrix.
constexpr	UnitVector (StorageType &&d)
	Construct from a raw Eigen matrix (move).
constexpr	UnitVector (const UnitVector &)=default
	Copy constructor.
constexpr	UnitVector (UnitVector &&)=default
	Move constructor.
constexpr UnitVector &	operator= (const UnitVector &)=default
	Copy assignment.
constexpr UnitVector &	operator= (UnitVector &&)=default
	Move assignment.
constexpr	UnitVector (units::unit_t< UnitTags >... args)
	Construct from individual unit values. Values are automatically converted to the units specified by UnitTags.
constexpr const StorageType &	Raw () const
	Get a constant reference to the underlying raw Eigen data.
constexpr StorageType &	Raw ()
	Get a reference to the underlying raw Eigen data.
template<std::size_t N> requires ValidIndex<N, UnitTags...>
constexpr auto	Get () const
	Get the value of the N-th element with its unit.
template<std::size_t N> requires ValidIndex<N, UnitTags...>
void	Set (units::unit_t< std::tuple_element_t< N, UnitTuple > > val)
	Set the value of the N-th element.
template<typename T = std::tuple_element_t<0, UnitTuple>> requires AllSameUnits<UnitTags...>
auto	Norm () const
	Computes the L2 norm (magnitude). Requires all elements to have the same unit tag.
auto	Normalized () const
	Returns a normalized (unit-length) vector. Result is dimensionless. Only valid if all elements have the same unit.
template<typename... OtherTags> requires (sizeof...(UnitTags) == sizeof...(OtherTags)) && AllSameUnits<MultiplyResult<UnitTags, OtherTags>...>
auto	Dot (const UnitVector< OtherTags... > &other) const
	Dot product with another UnitVector. Resulting unit is the product of the first tags of both vectors.
template<std::size_t N> requires ValidSize<N, UnitTags...>
constexpr auto	Head () const
	Extract the first N elements as a new UnitVector.
template<std::size_t N> requires ValidSize<N, UnitTags...>
constexpr auto	Tail () const
	Extract the last N elements as a new UnitVector.
template<std::size_t Start, std::size_t N> requires ValidSize<Start + N, UnitTags...>
constexpr auto	Slice () const
	Extract N elements after the Start as a new UnitVector.
template<typename... OtherTags> requires UnitEquality<UnitTuple, std::tuple<OtherTags...>>
constexpr UnitVector	operator+ (const UnitVector< OtherTags... > &other) const
	Vector addition.
template<typename... OtherTags> requires UnitEquality<UnitTuple, std::tuple<OtherTags...>>
constexpr UnitVector	operator- (const UnitVector< OtherTags... > &other) const
	Vector subtraction.
constexpr UnitVector	operator- () const
	Unary negation.
template<typename... OtherTags> requires UnitEquality<UnitTuple, std::tuple<OtherTags...>>
constexpr UnitVector &	operator+= (const UnitVector< OtherTags... > &other)
	In-place vector addition.
template<typename... OtherTags> requires UnitEquality<UnitTuple, std::tuple<OtherTags...>>
constexpr UnitVector &	operator-= (const UnitVector< OtherTags... > &other)
	In-place vector subtraction.
template<typename ScalarTag>
constexpr auto	operator* (const units::unit_t< ScalarTag > &scalar) const
	Multiplication by a scalar unit.
template<typename ScalarTag>
constexpr auto	operator/ (const units::unit_t< ScalarTag > &scalar) const
	Division by a scalar unit.
constexpr UnitVector	operator* (double scalar) const
	Raw scaling (multiplication by double).
constexpr UnitVector	operator/ (double scalar) const
	Raw scaling (division by double).
template<typename... OtherTags> requires UnitEquality<UnitTuple, std::tuple<OtherTags...>>
bool	operator== (const UnitVector< OtherTags... > &other) const
	Equality operator.
template<typename... OtherTags>
constexpr auto	CWiseProduct (const UnitVector< OtherTags... > &other) const
	Component-wise product with another UnitVector.
template<typename... OtherTags>
constexpr auto	CWiseQuotient (const UnitVector< OtherTags... > &other) const
	Component-wise quotient with another UnitVector.
constexpr UnitVector	CWiseAbs () const
	Component-wise absolute value.
constexpr UnitVector	CWiseMin (const UnitVector &other) const
	Component-wise minimum.
constexpr UnitVector	CWiseMax (const UnitVector &other) const
	Component-wise maximum.
constexpr UnitVector	Clamp (const UnitVector &lo, const UnitVector &hi) const
	Clamp each element between lo and hi vectors.
constexpr UnitVector	Clamp (units::unit_t< std::tuple_element_t< 0, UnitTuple > > lo, units::unit_t< std::tuple_element_t< 0, UnitTuple > > hi) const
	Clamp each element between lo and hi unit values.
bool	IsApprox (const UnitVector &other, units::unit_t< std::tuple_element_t< 0, UnitTuple > > tol=units::unit_t< std::tuple_element_t< 0, UnitTuple > >{1e-9}) const
	Check if two vectors are approximately equal.
template<typename T = std::tuple_element_t<0, UnitTuple>> requires AllSameUnits<UnitTags...>
auto	Sum () const
	Computes the sum of all elements. Only valid if all units are the same.
template<typename T = std::tuple_element_t<0, UnitTuple>> requires AllSameUnits<UnitTags...>
auto	Mean () const
	Computes the mean of all elements. Only valid if all units are the same.
constexpr auto	X () const
	Access the first element (x).
void	X (units::unit_t< std::tuple_element_t< Size >=1 ? 0 :0, UnitTuple > > val)
	Set the first element (x).
constexpr auto	Y () const
	Access the second element (y).
void	Y (units::unit_t< std::tuple_element_t< Size >=2 ? 1 :0, UnitTuple > > val)
	Set the second element (y).
constexpr auto	Z () const
	Access the third element (z).
void	Z (units::unit_t< std::tuple_element_t< Size >=3 ? 2 :0, UnitTuple > > val)
	Set the third element (z).
constexpr auto	W () const
	Access the fourth element (w).
void	W (units::unit_t< std::tuple_element_t< Size >=4 ? 3 :0, UnitTuple > > val)
	Set the fourth element (w).
auto	AsDiagonal () const
	Converts the vector to a diagonal matrix.
template<typename ScalarTag> requires AllSameUnits<UnitTags...> && UnitEquality<ScalarTag, std::tuple_element_t<0, UnitTuple>>
constexpr UnitVector	operator+ (const units::unit_t< ScalarTag > &scalar) const
	Vector + scalar addition (broadcasting).
template<typename ScalarTag> requires AllSameUnits<UnitTags...> && UnitEquality<ScalarTag, std::tuple_element_t<0, UnitTuple>>
constexpr UnitVector	operator- (const units::unit_t< ScalarTag > &scalar) const
	Vector - scalar subtraction (broadcasting).
template<typename ScalarTag> requires AllSameUnits<UnitTags...> && UnitEquality<ScalarTag, std::tuple_element_t<0, UnitTuple>>
constexpr UnitVector &	operator+= (const units::unit_t< ScalarTag > &scalar)
	In-place vector + scalar addition (broadcasting).
template<typename ScalarTag> requires AllSameUnits<UnitTags...> && UnitEquality<ScalarTag, std::tuple_element_t<0, UnitTuple>>
constexpr UnitVector &	operator-= (const units::unit_t< ScalarTag > &scalar)
	In-place vector - scalar subtraction (broadcasting).
template<int P, typename T = std::tuple_element_t<0, UnitTuple>> requires AllSameUnits<UnitTags...>
auto	LPNorm () const
	Computes the Lp norm.
template<typename T = std::tuple_element_t<0, UnitTuple>> requires AllSameUnits<UnitTags...>
auto	StableNorm () const
	Computes the stable norm.
constexpr auto	Begin ()
constexpr auto	End ()
constexpr auto	Begin () const
constexpr auto	End () const

Static Public Member Functions
static constexpr UnitVector	Zero ()
	Create a zero-initialized vector.
static UnitVector	FromArray (const std::array< double, Size > &arr)
	Construct a UnitVector from a std::array of doubles. Values are assumed to be in the target units.
static UnitVector	FromSpan (const std::span< double, Size > &s)
	Construct a UnitVector from a std::span of doubles. Values are assumed to be in the target units.
static UnitVector	Constant (units::unit_t< typename std::tuple_element_t< 0, UnitTuple > > val)
	Create a vector where all elements are set to a constant value. Only valid if all units are the same.
static auto	Skew (const UnitVector< UnitTags... > &vec)
	Converts a 3D vector to a skew-symmetric matrix.

Static Public Attributes
static constexpr std::size_t	Size = sizeof...(UnitTags)
	The number of elements in the vector.

Friends
std::ostream &	operator<< (std::ostream &os, const UnitVector &vec)
	Debug printing support.

Detailed Description

template<typename... UnitTags>
class valor::EigenUnit::UnitVector< UnitTags >

A vector wrapper that enforces units for each element.

Each element in the vector can have a different unit tag. Operations between UnitVectors are only permitted if their tag packs match exactly.

Template Parameters

UnitTags The unit types for each element in the vector.

Constructor & Destructor Documentation

◆ UnitVector() [1/3]

template<typename... UnitTags>

valor::EigenUnit::UnitVector< UnitTags >::UnitVector ( const StorageType & d )

inlineexplicitconstexpr

Construct from a raw Eigen matrix.

Parameters

d	The raw Eigen matrix containing values in the specified units.

◆ UnitVector() [2/3]

template<typename... UnitTags>

valor::EigenUnit::UnitVector< UnitTags >::UnitVector ( StorageType && d )

inlineexplicitconstexpr

Construct from a raw Eigen matrix (move).

Parameters

d	The raw Eigen matrix containing values in the specified units.

◆ UnitVector() [3/3]

template<typename... UnitTags>

valor::EigenUnit::UnitVector< UnitTags >::UnitVector ( units::unit_t< UnitTags >... args )

inlineconstexpr

Construct from individual unit values. Values are automatically converted to the units specified by UnitTags.

Parameters

args	The unit values for each element.

Member Function Documentation

◆ AsDiagonal()

template<typename... UnitTags>

auto valor::EigenUnit::UnitVector< UnitTags >::AsDiagonal ( ) const

Converts the vector to a diagonal matrix.

Returns: A UnitMatrix with the vector elements on the diagonal.

◆ Clamp() [1/2]

template<typename... UnitTags>

UnitVector valor::EigenUnit::UnitVector< UnitTags >::Clamp	(	const UnitVector< UnitTags > &	lo,
		const UnitVector< UnitTags > &	hi ) const

inlinenodiscardconstexpr

Clamp each element between lo and hi vectors.

Parameters

lo	Lower bound vector.
hi	Upper bound vector.

◆ Clamp() [2/2]

template<typename... UnitTags>

UnitVector valor::EigenUnit::UnitVector< UnitTags >::Clamp	(	units::unit_t< std::tuple_element_t< 0, UnitTuple > >	lo,
		units::unit_t< std::tuple_element_t< 0, UnitTuple > >	hi ) const

inlinenodiscardconstexpr

Clamp each element between lo and hi unit values.

Parameters

lo	Lower bound value.
hi	Upper bound value.

◆ Constant()

template<typename... UnitTags>

UnitVector valor::EigenUnit::UnitVector< UnitTags >::Constant ( units::unit_t< typename std::tuple_element_t< 0, UnitTuple > > val )

inlinestatic

Create a vector where all elements are set to a constant value. Only valid if all units are the same.

Parameters

val	The constant value to set.

Returns: A UnitVector with all elements set to val.

◆ CWiseProduct()

template<typename... UnitTags>

template<typename... OtherTags>

auto valor::EigenUnit::UnitVector< UnitTags >::CWiseProduct ( const UnitVector< OtherTags... > & other ) const

inlinenodiscardconstexpr

Component-wise product with another UnitVector.

Template Parameters

OtherTags Unit tags of the other vector.

Parameters

other The other UnitVector.

Returns: A new UnitVector with multiplied units.

◆ CWiseQuotient()

template<typename... UnitTags>

template<typename... OtherTags>

auto valor::EigenUnit::UnitVector< UnitTags >::CWiseQuotient ( const UnitVector< OtherTags... > & other ) const

inlinenodiscardconstexpr

Component-wise quotient with another UnitVector.

Template Parameters

OtherTags Unit tags of the other vector.

Parameters

other The other UnitVector.

Returns: A new UnitVector with divided units.

◆ Dot()

template<typename... UnitTags>

template<typename... OtherTags>
requires (sizeof...(UnitTags) == sizeof...(OtherTags)) && AllSameUnits<MultiplyResult<UnitTags, OtherTags>...>

auto valor::EigenUnit::UnitVector< UnitTags >::Dot ( const UnitVector< OtherTags... > & other ) const

inlinenodiscard

Dot product with another UnitVector. Resulting unit is the product of the first tags of both vectors.

Template Parameters

OtherTags Unit tags of the other vector.

Parameters

other The other UnitVector to dot with.

Returns: The dot product as a unit_t.

◆ FromArray()

template<typename... UnitTags>

UnitVector valor::EigenUnit::UnitVector< UnitTags >::FromArray ( const std::array< double, Size > & arr )

inlinestatic

Construct a UnitVector from a std::array of doubles. Values are assumed to be in the target units.

Parameters

arr	The array of values.

Returns: A UnitVector initialized with the given values.

◆ FromSpan()

template<typename... UnitTags>

UnitVector valor::EigenUnit::UnitVector< UnitTags >::FromSpan ( const std::span< double, Size > & s )

inlinestatic

Construct a UnitVector from a std::span of doubles. Values are assumed to be in the target units.

Parameters

s	The span of values.

Returns: A UnitVector initialized with the given values.

◆ Get()

template<typename... UnitTags>

template<std::size_t N>
requires ValidIndex<N, UnitTags...>

auto valor::EigenUnit::UnitVector< UnitTags >::Get ( ) const

inlineconstexpr

Get the value of the N-th element with its unit.

Template Parameters

N	The index of the element to retrieve.

Returns: The value of the N-th element as a units::unit_t.

◆ Head()

template<typename... UnitTags>

template<std::size_t N>
requires ValidSize<N, UnitTags...>

auto valor::EigenUnit::UnitVector< UnitTags >::Head ( ) const

inlineconstexpr

Extract the first N elements as a new UnitVector.

Template Parameters

N	The number of elements to extract.

Returns: A new UnitVector containing the first N elements.

◆ IsApprox()

template<typename... UnitTags>

bool valor::EigenUnit::UnitVector< UnitTags >::IsApprox	(	const UnitVector< UnitTags > &	other,
		units::unit_t< std::tuple_element_t< 0, UnitTuple > >	tol = units::unit_t<std::tuple_element_t<0, UnitTuple>>{1e-9} ) const

inline

Check if two vectors are approximately equal.

Parameters

other	The other vector.
tol	The tolerance.

Returns: True if approximately equal.

◆ LPNorm()

template<typename... UnitTags>

template<int P, typename T = std::tuple_element_t<0, UnitTuple>>
requires AllSameUnits<UnitTags...>

auto valor::EigenUnit::UnitVector< UnitTags >::LPNorm ( ) const

inlinenodiscard

Computes the Lp norm.

Template Parameters

P	The order of the norm.

◆ Norm()

template<typename... UnitTags>

template<typename T = std::tuple_element_t<0, UnitTuple>>
requires AllSameUnits<UnitTags...>

auto valor::EigenUnit::UnitVector< UnitTags >::Norm ( ) const

inlinenodiscard

Computes the L2 norm (magnitude). Requires all elements to have the same unit tag.

Template Parameters

T	The unit type of the elements (defaults to the first element's unit).

Returns: The L2 norm of the vector with unit T.

◆ Normalized()

template<typename... UnitTags>

auto valor::EigenUnit::UnitVector< UnitTags >::Normalized ( ) const

inline

Returns a normalized (unit-length) vector. Result is dimensionless. Only valid if all elements have the same unit.

Returns: A dimensionless Eigen vector representing the normalized UnitVector.

◆ operator*() [1/2]

template<typename... UnitTags>

template<typename ScalarTag>

auto valor::EigenUnit::UnitVector< UnitTags >::operator* ( const units::unit_t< ScalarTag > & scalar ) const

inlinenodiscardconstexpr

Multiplication by a scalar unit.

Template Parameters

ScalarTag The unit type of the scalar.

Parameters

scalar The scalar value.

Returns: A new UnitVector with each element multiplied by the scalar.

◆ operator*() [2/2]

template<typename... UnitTags>

UnitVector valor::EigenUnit::UnitVector< UnitTags >::operator* ( double scalar ) const

inlinenodiscardconstexpr

Raw scaling (multiplication by double).

Parameters

scalar The scaling factor.

Returns: A new UnitVector scaled by the factor.

◆ operator/() [1/2]

template<typename... UnitTags>

template<typename ScalarTag>

auto valor::EigenUnit::UnitVector< UnitTags >::operator/ ( const units::unit_t< ScalarTag > & scalar ) const

inlinenodiscardconstexpr

Division by a scalar unit.

Template Parameters

ScalarTag The unit type of the scalar.

Parameters

scalar The scalar value.

Returns: A new UnitVector with each element divided by the scalar.

◆ operator/() [2/2]

template<typename... UnitTags>

UnitVector valor::EigenUnit::UnitVector< UnitTags >::operator/ ( double scalar ) const

inlinenodiscardconstexpr

Raw scaling (division by double).

Parameters

scalar The scaling factor.

Returns: A new UnitVector divided by the factor.

◆ Raw() [1/2]

template<typename... UnitTags>

StorageType & valor::EigenUnit::UnitVector< UnitTags >::Raw ( )

inlineconstexpr

Get a reference to the underlying raw Eigen data.

Returns: Reference to the raw Eigen matrix.

◆ Raw() [2/2]

template<typename... UnitTags>

const StorageType & valor::EigenUnit::UnitVector< UnitTags >::Raw ( ) const

inlineconstexpr

Get a constant reference to the underlying raw Eigen data.

Returns: Constant reference to the raw Eigen matrix.

◆ Set()

template<typename... UnitTags>

template<std::size_t N>
requires ValidIndex<N, UnitTags...>

void valor::EigenUnit::UnitVector< UnitTags >::Set ( units::unit_t< std::tuple_element_t< N, UnitTuple > > val )

inline

Set the value of the N-th element.

Template Parameters

N	The index of the element to set.

Parameters

val	The unit value to set.

◆ Skew()

template<typename... UnitTags>

auto valor::EigenUnit::UnitVector< UnitTags >::Skew ( const UnitVector< UnitTags... > & vec )

inlinestatic

Converts a 3D vector to a skew-symmetric matrix.

Returns: A 3x3 skew-symmetric UnitMatrix.

◆ Slice()

template<typename... UnitTags>

template<std::size_t Start, std::size_t N>
requires ValidSize<Start + N, UnitTags...>

auto valor::EigenUnit::UnitVector< UnitTags >::Slice ( ) const

inlineconstexpr

Extract N elements after the Start as a new UnitVector.

Template Parameters

Start	The offset to begin extracting at
N	The number of elements to extract after the offset

Returns: A new UnitVector containing the number of elements after the start

◆ Tail()

template<typename... UnitTags>

template<std::size_t N>
requires ValidSize<N, UnitTags...>

auto valor::EigenUnit::UnitVector< UnitTags >::Tail ( ) const

inlineconstexpr

Extract the last N elements as a new UnitVector.

Template Parameters

N	The number of elements to extract.

Returns: A new UnitVector containing the last N elements.

◆ Zero()

template<typename... UnitTags>

constexpr UnitVector valor::EigenUnit::UnitVector< UnitTags >::Zero ( )

inlinestaticconstexpr

Create a zero-initialized vector.

Returns: A UnitVector with all elements set to zero.

◆ operator<<

template<typename... UnitTags>

std::ostream & operator<<	(	std::ostream &	os,
		const UnitVector< UnitTags > &	vec )

friend

Debug printing support.

Parameters

os	The output stream.
vec	The UnitVector to print.

Returns: The output stream.

The documentation for this class was generated from the following files:

src/main/include/valkyrie/util/eigenunit/UnitVector.h
src/main/include/valkyrie/util/eigenunit/UnitMatrix.h

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ UnitVector() [1/3]

◆ UnitVector() [2/3]

◆ UnitVector() [3/3]

Member Function Documentation

◆ AsDiagonal()

◆ Clamp() [1/2]

◆ Clamp() [2/2]

◆ Constant()

◆ CWiseProduct()

◆ CWiseQuotient()

◆ Dot()

◆ FromArray()

◆ FromSpan()

◆ Get()

◆ Head()

◆ IsApprox()

◆ LPNorm()

◆ Norm()

◆ Normalized()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator/() [1/2]

◆ operator/() [2/2]

◆ Raw() [1/2]

◆ Raw() [2/2]

◆ Set()

◆ Skew()

◆ Slice()

◆ Tail()

◆ Zero()

Friends And Related Symbol Documentation

◆ operator<<