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50 lines
1.5 KiB
50 lines
1.5 KiB
/**
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* \file vmath.h
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* \author Peter Corke
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* \brief Simple vector/matrix maths library.
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*
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* \note All vectors and matrices are passed by reference.
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*/
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/*
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* Copyright (C) 1999-2008, by Peter I. Corke
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*
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* This file is part of The Robotics Toolbox for Matlab (RTB).
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*
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* RTB is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RTB is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Leser General Public License
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* along with RTB. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#ifndef _vmath_h_
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#define _vmath_h_
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typedef struct vector {
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double x, y, z;
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} Vect;
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typedef struct matrix {
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Vect n, o, a;
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} Rot;
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typedef struct homogeneous_matrix {
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Vect n, o, a, p;
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} Transform;
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void vect_cross (Vect *r, Vect *a, Vect *b);
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double vect_dot (Vect *a, Vect *b);
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void vect_add (Vect *r, Vect *a, Vect *b);
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void scal_mult (Vect *r, Vect *a, double s);
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void rot_vect_mult (Vect *r, Rot *m, Vect *v);
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void rot_trans_vect_mult (Vect *r, Rot *m, Vect *v);
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void mat_vect_mult (Vect *r, double *m, Vect *v);
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void rot_print(char *s, Rot *m);
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void vect_print(char *s, Vect *v);
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#endif
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