hat.hpp

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#pragma once
 
#include <string>
 
#include "NumCpp/Core/Internal/Error.hpp"
#include "NumCpp/Core/Internal/StaticAsserts.hpp"
#include "NumCpp/NdArray.hpp"
#include "NumCpp/Vector/Vec3.hpp"
 
namespace nc::linalg
{
    //============================================================================
    // Method Description:
    template<typename dtype>
    NdArray<dtype> hat(dtype inX, dtype inY, dtype inZ)
    {
        STATIC_ASSERT_ARITHMETIC(dtype);
 
        NdArray<dtype> returnArray(3);
        returnArray(0, 0) = 0.;
        returnArray(0, 1) = -inZ;
        returnArray(0, 2) = inY;
        returnArray(1, 0) = inZ;
        returnArray(1, 1) = 0.;
        returnArray(1, 2) = -inX;
        returnArray(2, 0) = -inY;
        returnArray(2, 1) = inX;
        returnArray(2, 2) = 0.;
 
        return returnArray;
    }
 
    //============================================================================
    // Method Description:
    template<typename dtype>
    NdArray<dtype> hat(const NdArray<dtype>& inVec)
    {
        STATIC_ASSERT_ARITHMETIC(dtype);
 
        if (inVec.size() != 3)
        {
            THROW_INVALID_ARGUMENT_ERROR("input vector must be a length 3 cartesian vector.");
        }
 
        return hat(inVec[0], inVec[1], inVec[2]);
    }
 
    //============================================================================
    // Method Description:
    inline NdArray<double> hat(const Vec3& inVec)
    {
        return hat(inVec.x, inVec.y, inVec.z);
    }
} // namespace nc::linalg