normalize.hpp

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// Copyright 2015 TIER IV, Inc. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef GEOMETRY__VECTOR3__NORMALIZE_HPP_
#define GEOMETRY__VECTOR3__NORMALIZE_HPP_
 
#include <geometry/vector3/is_like_vector3.hpp>
#include <geometry/vector3/norm.hpp>
#include <scenario_simulator_exception/exception.hpp>
 
namespace math
{
namespace geometry
{
template <typename T, std::enable_if_t<IsLikeVector3<T>::value, std::nullptr_t> = nullptr>
auto normalize(const T & v)
{
  const auto n = norm(v);
  if (std::fabs(n) <= std::numeric_limits<double>::epsilon()) {
    THROW_SIMULATION_ERROR(
      "size of norm (", v.x, ",", v.y, ",", v.z, ") is, ", n,
      " size of the vector you want to normalize should be over ",
      std::numeric_limits<double>::epsilon());
  }
  return v / n;
}
}  // namespace geometry
}  // namespace math
 
#endif  // GEOMETRY__VECTOR3__NORMALIZE_HPP_