ForceChain.hpp

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#pragma once
 
#include <cstddef>
#include <vector>
 
#include <opencv2/core.hpp>
 
namespace volcart::segmentation
{
using Force = cv::Vec3d;
class ForceChain
{
public:
    using Chain = std::vector<Force>;
 
    ForceChain() = default;
 
    explicit ForceChain(Chain c) : data_{std::move(c)} {}
 
    auto operator+=(const ForceChain& rhs) -> ForceChain&;
 
    auto operator*=(const double& rhs) -> ForceChain&;
 
    auto operator[](std::size_t i) { return data_[i]; }
 
    auto operator[](std::size_t i) const { return data_[i]; }
 
    auto begin() { return data_.begin(); }
 
    auto begin() const { return data_.begin(); }
 
    auto end() { return data_.end(); }
 
    auto end() const { return data_.end(); }
 
    template <class... Args>
    void emplace_back(Args&&... args)
    {
        data_.emplace_back(std::forward<Args>(args)...);
    }
 
    void push_back(const Force& val) { data_.push_back(val); }
 
    auto size() -> std::size_t { return data_.size(); }
 
    auto size() const -> std::size_t { return data_.size(); }
 
    void clear() { data_.clear(); }
 
    static void Normalize(ForceChain& c, double alpha = 1.0);
 
private:
    Chain data_;
};
 
auto operator+(ForceChain lhs, const ForceChain& rhs) -> ForceChain;
auto operator*(ForceChain lhs, const double& rhs) -> ForceChain;
auto operator*(const double& rhs, ForceChain lhs) -> ForceChain;
}  // namespace volcart::segmentation