math/Program.cs

This example shows the basic math features available with the VectorNav library.

Visual Studio (Windows)

1. Open the solution file for your specific Visual Studio version located at <root>/net/examples/math/projects/vs20XX/math.sln.
2. Build the entire solution by going to the menu BUILD -> Build Solution.
3. Right-click the project math and select Debug -> Start new instance.

Make (Linux)

1. Open a terminal and change to the directory <root>/net/examples/math .
2. To build the example, run the command make .
3. Run the example by executing the command sudo ./math .

using System;

// Allow easy access to the VectorNav library's math structures.
using VectorNav.Math;

class Program
{
    static void Main(string[] args)
    {
        // The VectorNav Programming Library provides structures for
        // representing vectors and matrices.

        // Common vectors you will normally encounter are conveniently named.
        // Below we create some simple vector objects.

        vec3f v1 = new vec3f(1.0f, 2.0f, 3.0f);         // An initialized 3 component vector of floats.
        vec3d v2 = new vec3d(4.0, 5.0, 6.0);            // An initialized 3 component vector of doubles.
        vec4f v3 = new vec4f(1.0f, 2.0f, 3.0f, 4.0f);   // An initialized 4 component vector of floats.

        // We can convienently display vector values.

        Console.WriteLine("v1: {0}", v1);
        Console.WriteLine("v2: {0}", v2);
        Console.WriteLine("v3: {0}", v3);

        // Common vector values are readily available.

        Console.WriteLine("zero vector: {0}", vec3f.Zero);
        Console.WriteLine("x-direction vector: {0}", vec3f.UnitX);

        // A variety of vector operations are available.

        vec3f va = new vec3f(1, 2, 3);
        vec3f vb = new vec3f(4, 5, 6);

        Console.WriteLine("va + vb = {0}", va + vb);
        Console.WriteLine("va - vb = {0}", va - vb);
        Console.WriteLine("2 * va = {0}", 2 * va);
        Console.WriteLine("va / 3 = {0}", va / 3);
        Console.WriteLine("-va = {0}", -va);
        Console.WriteLine("va magnitude = {0}", va.Magnitude());
        Console.WriteLine("va normalized = {0}", va.Normalize());

        // You can also access the individual vector components in a variety of ways.

        Console.WriteLine("va y-component: {0}", va.Y);
        Console.WriteLine("va z-component: {0}", va[2]);

        // You may often find yourself working with matrices so we show some
        // examples using the provided matrix structures.

        mat3f m1 = new mat3f(1, 2, 3, 4, 5, 6, 7, 8, 9);    // 3x3 matrix of floats.

        // As with vectors, we can easily display the matrix values on the console.

        Console.WriteLine("m1: {0}", m1);

        // Common matrix values are readily available.

        Console.WriteLine("one 3x3 matrix: {0}", mat3f.One);
        Console.WriteLine("identity 3x3 matrix: {0}", mat3f.Identity);

        // A variety of matrix operations are available.

        mat3f ma = new mat3f(1, 2, 3, 4, 5, 6, 7, 8, 9);
        mat3f mb = mat3f.One;

        Console.WriteLine("ma + mb = {0}", ma + mb);
        Console.WriteLine("ma - mb = {0}", ma - mb);
        Console.WriteLine("2 * ma = {0}", 2 * ma);
        Console.WriteLine("ma / 3 = {0}", ma / 3);
        Console.WriteLine("-ma = {0}", -ma);
        Console.WriteLine("ma transpose = {0}", ma.Transpose());

        // Access to the individual matrix elements is illustrated below.

        Console.WriteLine("0,0 element of ma: {0}", ma.E00);
        Console.WriteLine("0,1 element of ma: {0}", ma[0,1]);
    }
}