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[wpimath] Make Vector-Vector binary operators return Vector #5772

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Oct 17, 2023
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[wpimath] Make Vector-Vector binary operators return Vector #5772

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21 changes: 21 additions & 0 deletions wpimath/src/main/java/edu/wpi/first/math/Vector.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
package edu.wpi.first.math;

import edu.wpi.first.math.numbers.N1;
import java.util.Objects;
import org.ejml.simple.SimpleMatrix;

/**
Expand Down Expand Up @@ -62,6 +63,26 @@ public Vector<R> div(double value) {
return new Vector<>(this.m_storage.divide(value));
}

/**
* Adds the given vector to this vector.
*
* @param value The vector to add.
* @return The resultant vector.
*/
public final Vector<R> plus(Vector<R> value) {
return new Vector<>(this.m_storage.plus(Objects.requireNonNull(value).m_storage));
}

/**
* Subtracts the given vector to this vector.
*
* @param value The vector to add.
* @return The resultant vector.
*/
public final Vector<R> minus(Vector<R> value) {
return new Vector<>(this.m_storage.minus(Objects.requireNonNull(value).m_storage));
}

/**
* Returns the dot product of this vector with another.
*
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38 changes: 38 additions & 0 deletions wpimath/src/test/java/edu/wpi/first/math/VectorTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,44 @@
import org.junit.jupiter.api.Test;

class VectorTest {
@Test
void testVectorPlus() {
var vec1 = VecBuilder.fill(1.0, 2.0, 3.0);
var vec2 = VecBuilder.fill(4.0, 5.0, 6.0);
var result1 = vec1.plus(vec2);

assertEquals(5.0, result1.get(0, 0));
assertEquals(7.0, result1.get(1, 0));
assertEquals(9.0, result1.get(2, 0));

var vec3 = VecBuilder.fill(-1.0, 2.0, -3.0);
var vec4 = VecBuilder.fill(4.0, -5.0, 6.0);
var result2 = vec3.plus(vec4);

assertEquals(3.0, result2.get(0, 0));
assertEquals(-3.0, result2.get(1, 0));
assertEquals(3.0, result2.get(2, 0));
}

@Test
void testVectorMinus() {
var vec1 = VecBuilder.fill(1.0, 2.0, 3.0);
var vec2 = VecBuilder.fill(4.0, 5.0, 6.0);
var result1 = vec1.minus(vec2);

assertEquals(-3.0, result1.get(0, 0));
assertEquals(-3.0, result1.get(1, 0));
assertEquals(-3.0, result1.get(2, 0));

var vec3 = VecBuilder.fill(-1.0, 2.0, -3.0);
var vec4 = VecBuilder.fill(4.0, -5.0, 6.0);
var result2 = vec3.minus(vec4);

assertEquals(-5.0, result2.get(0, 0));
assertEquals(7.0, result2.get(1, 0));
assertEquals(-9.0, result2.get(2, 0));
}

@Test
void testVectorDot() {
var vec1 = VecBuilder.fill(1.0, 2.0, 3.0);
Expand Down
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