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#pragma once
#include "data_math.hpp"
namespace saw {
namespace math {
/*
template<typename T, typename Encoding = FORSTIO_DEFAULT_DATA_ENCODING>
data<typename T::InnerType,Encoding> norm_2(const data<T,Encoding>& d){
return {};
}
*/
template<typename T, uint64_t D, typename Encoding = FORSTIO_DEFAULT_DATA_ENCODING>
data<schema::Scalar<T>, Encoding> dot(const data<schema::Vector<T,D>, Encoding>& left, const data<schema::Vector<T,D>, Encoding>& right){
data<schema::Scalar<T>,Encoding> val;
auto& inner = val({});
for(uint64_t i = 0u; i < D; ++i){
inner = inner + left({{i}}) * right({{i}});
}
return val;
}
template<typename T,typename Encoding = FORSTIO_DEFAULT_DATA_ENCODING>
data<schema::Scalar<T>,Encoding> sqrt(const data<schema::Scalar<T>,Encoding>& inp){
data<schema::Scalar<T>,Encoding> out;
out.at({}).set(std::sqrt(inp.at({}).get()));
return out;
}
template<typename T, uint64_t D, typename Encoding = FORSTIO_DEFAULT_DATA_ENCODING>
data<schema::Vector<T,D>, Encoding> normalize(const data<schema::Vector<T,D>>& input ) {
auto inp_dot = dot<T,D,Encoding>(input,input);
if(inp_dot.at({}).get() <= 0){
return input;
}
auto sqrt_inp_dot = sqrt<T>(inp_dot);
saw::data<schema::Vector<T,D>, Encoding> out;
for(uint64_t i = 0u; i < D; ++i){
out.at({{i}}) = (input.at({{i}}) / sqrt_inp_dot.at({}));
}
return out;
}
template<typename T, uint64_t D, typename Encoding = FORSTIO_DEFAULT_DATA_ENCODING>
data<schema::Vector<T,D>, Encoding> vectorize_data(const data<schema::FixedArray<T,D>>& dat){
data<schema::Vector<T,D>,Encoding> vec_data;
for(uint64_t i{0u}; i < D; ++i){
vec_data.at({{i}}) = dat.at({{i}});
}
return vec_data;
}
template<typename T, uint64_t M, uint64_t N, uint64_t K, typename Encoding = FORSTIO_DEFAULT_DATA_ENCODING>
data<schema::Matrix<T,M,N>, Encoding> multiply(const data<schema::Matrix<T,M,K>, Encoding>& left, const data<schema::Matrix<T,K,N>, Encoding>& right){
data<schema::Matrix<T,M,N>, Encoding> lr;
for(uint64_t i = 0u; i < M; ++i){
for(uint64_t j = 0u; j < N; ++j){
for(uint64_t k = 0u; k < K; ++k){
lr.at({{i,j}}) = lr.at({{i,j}}) + left.at({{i,k}}) * right.at({{k,j}});
}
}
}
return lr;
}
template<typename T, uint64_t M, uint64_t N, typename Encoding = FORSTIO_DEFAULT_DATA_ENCODING>
data<schema::Vector<T,M>, Encoding> multiply(const data<schema::Matrix<T,M,N>, Encoding>& left, const data<schema::Vector<T,N>, Encoding>& right){
data<schema::Vector<T,M>, Encoding> lr;
for(uint64_t i = 0u; i < M; ++i){
for(uint64_t j = 0u; j < N; ++j){
lr.at({{i}}) = lr.at({{i}}) + left.at({{i,j}}) * right.at({{j}});
}
}
return lr;
}
template<typename T, typename Encoding = FORSTIO_DEFAULT_DATA_ENCODING>
data<schema::Vector<T,3u>, Encoding> cross(
const data<schema::Vector<T,3u>, Encoding> lh,
const data<schema::Vector<T,3u>, Encoding> rh
){
data<schema::Vector<T,3u>, Encoding> cross_prod;
cross_prod.at({{0u}}) = lh.at({{1u}}) * rh.at({{2u}}) - lh.at({{2u}}) * rh.at({{1u}});
cross_prod.at({{1u}}) = lh.at({{2u}}) * rh.at({{0u}}) - lh.at({{0u}}) * rh.at({{2u}});
cross_prod.at({{2u}}) = lh.at({{0u}}) * rh.at({{1u}}) - lh.at({{1u}}) * rh.at({{0u}});
return cross_prod;
}
template<typename T, typename Encoding = FORSTIO_DEFAULT_DATA_ENCODING>
data<schema::Scalar<T>,Encoding> cross(
const data<schema::Vector<T,2u>, Encoding> lh,
const data<schema::Vector<T,2u>, Encoding> rh
){
data<schema::Scalar<T>, Encoding> cross_prod;
cross_prod.at({}) = lh.at({{0u}}) * rh.at({{1u}}) - lh.at({{1u}}) * rh.at({{0u}});
return cross_prod;
}
template<typename T, typename Encoding = FORSTIO_DEFAULT_DATA_ENCODING>
data<schema::Scalar<T>,Encoding> cos(
const data<schema::Scalar<T>,Encoding>& val
){
data<schema::Scalar<T>,Encoding> ret;
ret.at({}).set(std::cos(val.at({}).get()));
return ret;
}
template<typename T, typename Encoding = FORSTIO_DEFAULT_DATA_ENCODING>
data<schema::Scalar<T>,Encoding> sin(
const data<schema::Scalar<T>,Encoding>& val
){
data<schema::Scalar<T>,Encoding> ret;
ret.at({}).set(std::sin(val.at({}).get()));
return ret;
}
template<typename T, typename Encoding = FORSTIO_DEFAULT_DATA_ENCODING>
data<schema::Vector<T,2u>,Encoding> rotate(
const data<schema::Vector<T,2u>, Encoding> vec,
const data<schema::Scalar<T>, Encoding> rot
){
data<schema::Vector<T,2u>, Encoding> rot_vec;
rot_vec.at({{0u}}) = vec.at({{0u}}) * cos(rot).at({});
rot_vec.at({{1u}}) = vec.at({{1u}}) * sin(rot).at({});
return rot_vec;
}
template<typename T, uint64_t D, typename Encoding = FORSTIO_DEFAULT_DATA_ENCODING>
data<schema::Vector<T,D>,Encoding> scale(
const data<schema::Vector<T,D>, Encoding> vec,
const data<schema::Scalar<T>, Encoding> scale
){
data<schema::Vector<T,D>, Encoding> sc_vec;
for(uint64_t i = 0u; i< D; ++i){
sc_vec.at({{i}}) = vec.at({{i}}) * scale;
}
return sc_vec;
}
}
}
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