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< div id = "projectbrief" > Set of algorithms implemented in C.< / div >
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< a href = "#nested-classes" > Data Structures< / a > |
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< div class = "headertitle" > < div class = "title" > 3D Vector operations< div class = "ingroups" > < a class = "el" href = "../../de/d5a/group__quaternions.html" > Library for 3D Vectors & Quaternions< / a > < / div > < / div > < / div >
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Collaboration diagram for 3D Vector operations:< / div >
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< div class = "center" > < iframe scrolling = "no" frameborder = "0" src = "../../de/d7b/group__vec__3d.svg" width = "356" height = "51" > < p > < b > This browser is not able to show SVG: try Firefox, Chrome, Safari, or Opera instead.< / b > < / p > < / iframe >
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Data Structures< / h2 > < / td > < / tr >
< tr class = "memitem:" > < td class = "memItemLeft" align = "right" valign = "top" > struct   < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "../../d5/db4/structvec__3d__.html" > vec_3d_< / a > < / td > < / tr >
< tr class = "memdesc:" > < td class = "mdescLeft" >   < / td > < td class = "mdescRight" > 3D vector type < a href = "../../d5/db4/structvec__3d__.html#details" > More...< / a > < br / > < / td > < / tr >
< tr class = "separator:" > < td class = "memSeparator" colspan = "2" >   < / td > < / tr >
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Typedefs< / h2 > < / td > < / tr >
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< tr class = "memitem:gaf9ee870d4922e488bdd3e7262485c270" > < td class = "memItemLeft" align = "right" valign = "top" > < a id = "gaf9ee870d4922e488bdd3e7262485c270" name = "gaf9ee870d4922e488bdd3e7262485c270" > < / a >
typedef struct < a class = "el" href = "../../d5/db4/structvec__3d__.html" > vec_3d_< / a >   < / td > < td class = "memItemRight" valign = "bottom" > < b > vec_3d< / b > < / td > < / tr >
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< tr class = "memdesc:gaf9ee870d4922e488bdd3e7262485c270" > < td class = "mdescLeft" >   < / td > < td class = "mdescRight" > 3D vector type < br / > < / td > < / tr >
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Functions< / h2 > < / td > < / tr >
< tr class = "memitem:ga97da356cb7d5da73a0ac9bad09a435cc" > < td class = "memItemLeft" align = "right" valign = "top" > < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a >   < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "../../de/d7b/group__vec__3d.html#ga97da356cb7d5da73a0ac9bad09a435cc" > vector_sub< / a > (const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *a, const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *b)< / td > < / tr >
< tr class = "memdesc:ga97da356cb7d5da73a0ac9bad09a435cc" > < td class = "mdescLeft" >   < / td > < td class = "mdescRight" > Subtract one vector from another. < a href = "../../de/d7b/group__vec__3d.html#ga97da356cb7d5da73a0ac9bad09a435cc" > More...< / a > < br / > < / td > < / tr >
< tr class = "separator:ga97da356cb7d5da73a0ac9bad09a435cc" > < td class = "memSeparator" colspan = "2" >   < / td > < / tr >
< tr class = "memitem:gaa6b5ac18429ffb0131dc8593d31c25a4" > < td class = "memItemLeft" align = "right" valign = "top" > < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a >   < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaa6b5ac18429ffb0131dc8593d31c25a4" > vector_add< / a > (const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *a, const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *b)< / td > < / tr >
< tr class = "memdesc:gaa6b5ac18429ffb0131dc8593d31c25a4" > < td class = "mdescLeft" >   < / td > < td class = "mdescRight" > Add one vector to another. < a href = "../../de/d7b/group__vec__3d.html#gaa6b5ac18429ffb0131dc8593d31c25a4" > More...< / a > < br / > < / td > < / tr >
< tr class = "separator:gaa6b5ac18429ffb0131dc8593d31c25a4" > < td class = "memSeparator" colspan = "2" >   < / td > < / tr >
< tr class = "memitem:ga243e74d542d0d4d14fa3ae0bc2170d84" > < td class = "memItemLeft" align = "right" valign = "top" > float  < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "../../de/d7b/group__vec__3d.html#ga243e74d542d0d4d14fa3ae0bc2170d84" > dot_prod< / a > (const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *a, const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *b)< / td > < / tr >
< tr class = "memdesc:ga243e74d542d0d4d14fa3ae0bc2170d84" > < td class = "mdescLeft" >   < / td > < td class = "mdescRight" > Obtain the dot product of two 3D vectors. < a href = "../../de/d7b/group__vec__3d.html#ga243e74d542d0d4d14fa3ae0bc2170d84" > More...< / a > < br / > < / td > < / tr >
< tr class = "separator:ga243e74d542d0d4d14fa3ae0bc2170d84" > < td class = "memSeparator" colspan = "2" >   < / td > < / tr >
< tr class = "memitem:gae4a49e6bdf13df949e8b23c7925bb5f5" > < td class = "memItemLeft" align = "right" valign = "top" > < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a >   < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "../../de/d7b/group__vec__3d.html#gae4a49e6bdf13df949e8b23c7925bb5f5" > vector_prod< / a > (const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *a, const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *b)< / td > < / tr >
< tr class = "memdesc:gae4a49e6bdf13df949e8b23c7925bb5f5" > < td class = "mdescLeft" >   < / td > < td class = "mdescRight" > Compute the vector product of two 3d vectors. < a href = "../../de/d7b/group__vec__3d.html#gae4a49e6bdf13df949e8b23c7925bb5f5" > More...< / a > < br / > < / td > < / tr >
< tr class = "separator:gae4a49e6bdf13df949e8b23c7925bb5f5" > < td class = "memSeparator" colspan = "2" >   < / td > < / tr >
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< tr class = "memitem:gae25e1f2e973933bef65838601e2de0af" > < td class = "memItemLeft" align = "right" valign = "top" > const char *  < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "../../de/d7b/group__vec__3d.html#gae25e1f2e973933bef65838601e2de0af" > print_vector< / a > (const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *a, const char *name)< / td > < / tr >
< tr class = "memdesc:gae25e1f2e973933bef65838601e2de0af" > < td class = "mdescLeft" >   < / td > < td class = "mdescRight" > Print formatted vector on stdout. < a href = "../../de/d7b/group__vec__3d.html#gae25e1f2e973933bef65838601e2de0af" > More...< / a > < br / > < / td > < / tr >
< tr class = "separator:gae25e1f2e973933bef65838601e2de0af" > < td class = "memSeparator" colspan = "2" >   < / td > < / tr >
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< tr class = "memitem:ga94805165d037d111d7d7c0df99e3a5de" > < td class = "memItemLeft" align = "right" valign = "top" > float  < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "../../de/d7b/group__vec__3d.html#ga94805165d037d111d7d7c0df99e3a5de" > vector_norm< / a > (const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *a)< / td > < / tr >
< tr class = "memdesc:ga94805165d037d111d7d7c0df99e3a5de" > < td class = "mdescLeft" >   < / td > < td class = "mdescRight" > Compute the norm a vector. < a href = "../../de/d7b/group__vec__3d.html#ga94805165d037d111d7d7c0df99e3a5de" > More...< / a > < br / > < / td > < / tr >
< tr class = "separator:ga94805165d037d111d7d7c0df99e3a5de" > < td class = "memSeparator" colspan = "2" >   < / td > < / tr >
< tr class = "memitem:ga3cdfd8378a0b115563ea6c561bb46b7e" > < td class = "memItemLeft" align = "right" valign = "top" > < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a >   < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "../../de/d7b/group__vec__3d.html#ga3cdfd8378a0b115563ea6c561bb46b7e" > unit_vec< / a > (const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *a)< / td > < / tr >
< tr class = "memdesc:ga3cdfd8378a0b115563ea6c561bb46b7e" > < td class = "mdescLeft" >   < / td > < td class = "mdescRight" > Obtain unit vector in the same direction as given vector. < a href = "../../de/d7b/group__vec__3d.html#ga3cdfd8378a0b115563ea6c561bb46b7e" > More...< / a > < br / > < / td > < / tr >
< tr class = "separator:ga3cdfd8378a0b115563ea6c561bb46b7e" > < td class = "memSeparator" colspan = "2" >   < / td > < / tr >
< tr class = "memitem:ga5082b0720c2cc51ae84bf19bd76dc849" > < td class = "memItemLeft" align = "right" valign = "top" > < a class = "el" href = "../../dd/d7a/group__matrix.html#ga9f844010cb96591fa94c9d533a500ab7" > mat_3x3< / a >   < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "../../de/d7b/group__vec__3d.html#ga5082b0720c2cc51ae84bf19bd76dc849" > get_cross_matrix< / a > (const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *a)< / td > < / tr >
< tr class = "memdesc:ga5082b0720c2cc51ae84bf19bd76dc849" > < td class = "mdescLeft" >   < / td > < td class = "mdescRight" > The cross product of vectors can be represented as a matrix multiplication operation. < a href = "../../de/d7b/group__vec__3d.html#ga5082b0720c2cc51ae84bf19bd76dc849" > More...< / a > < br / > < / td > < / tr >
< tr class = "separator:ga5082b0720c2cc51ae84bf19bd76dc849" > < td class = "memSeparator" colspan = "2" >   < / td > < / tr >
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< tr class = "memitem:ga55be1d766c8a824b35d97e79744834d8" > < td class = "memItemLeft" align = "right" valign = "top" > double  < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "../../de/d7b/group__vec__3d.html#ga55be1d766c8a824b35d97e79744834d8" > get_angle< / a > (const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *a, const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *b)< / td > < / tr >
< tr class = "memdesc:ga55be1d766c8a824b35d97e79744834d8" > < td class = "mdescLeft" >   < / td > < td class = "mdescRight" > Obtain the angle between two given vectors. < a href = "../../de/d7b/group__vec__3d.html#ga55be1d766c8a824b35d97e79744834d8" > More...< / a > < br / > < / td > < / tr >
< tr class = "separator:ga55be1d766c8a824b35d97e79744834d8" > < td class = "memSeparator" colspan = "2" >   < / td > < / tr >
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< / table >
< a name = "details" id = "details" > < / a > < h2 class = "groupheader" > Detailed Description< / h2 >
< h2 class = "groupheader" > Function Documentation< / h2 >
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< a id = "ga243e74d542d0d4d14fa3ae0bc2170d84" name = "ga243e74d542d0d4d14fa3ae0bc2170d84" > < / a >
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< h2 class = "memtitle" > < span class = "permalink" > < a href = "#ga243e74d542d0d4d14fa3ae0bc2170d84" > ◆ < / a > < / span > dot_prod()< / h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > float dot_prod < / td >
< td > (< / td >
< td class = "paramtype" > const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *  < / td >
< td class = "paramname" > < em > a< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *  < / td >
< td class = "paramname" > < em > b< / em >   < / td >
< / tr >
< tr >
< td > < / td >
< td > )< / td >
< td > < / td > < td > < / td >
< / tr >
< / table >
< / div > < div class = "memdoc" >
< p > Obtain the dot product of two 3D vectors. < / p >
< p class = "formulaDsp" >
\[ \vec{a}\cdot\vec{b}=a_xb_x + a_yb_y + a_zb_z \]
< / p >
< dl class = "params" > < dt > Parameters< / dt > < dd >
< table class = "params" >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > a< / td > < td > first vector < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > b< / td > < td > second vector < / td > < / tr >
< / table >
< / dd >
< / dl >
< dl class = "section return" > < dt > Returns< / dt > < dd > resulting dot product < / dd > < / dl >
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< div class = "fragment" > < div class = "line" > < a id = "l00077" name = "l00077" > < / a > < span class = "lineno" > 77< / span > {< / div >
< div class = "line" > < a id = "l00078" name = "l00078" > < / a > < span class = "lineno" > 78< / span > < span class = "keywordtype" > float< / span > dot;< / div >
< div class = "line" > < a id = "l00079" name = "l00079" > < / a > < span class = "lineno" > 79< / span > < span class = "preprocessor" > #ifdef LIBQUAT_ARM< / span > < / div >
< div class = "line" > < a id = "l00080" name = "l00080" > < / a > < span class = "lineno" > 80< / span > arm_dot_prod_f32((< span class = "keywordtype" > float< / span > *)a, (< span class = "keywordtype" > float< / span > *)b, & dot);< / div >
< div class = "line" > < a id = "l00081" name = "l00081" > < / a > < span class = "lineno" > 81< / span > < span class = "preprocessor" > #else< / span > < / div >
< div class = "line" > < a id = "l00082" name = "l00082" > < / a > < span class = "lineno" > 82< / span > dot = a-> x * b-> < a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a53462a5a195c9e16fb584f73fd66c3d0" > x< / a > ;< / div >
< div class = "line" > < a id = "l00083" name = "l00083" > < / a > < span class = "lineno" > 83< / span > dot += a-> y * b-> < a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a76098d39a382838df3b4b48c3443413b" > y< / a > ;< / div >
< div class = "line" > < a id = "l00084" name = "l00084" > < / a > < span class = "lineno" > 84< / span > dot += a-> z * b-> < a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a3339a40de7385fa55bee30be81c098c6" > z< / a > ;< / div >
< div class = "line" > < a id = "l00085" name = "l00085" > < / a > < span class = "lineno" > 85< / span > < span class = "preprocessor" > #endif< / span > < / div >
< div class = "line" > < a id = "l00086" name = "l00086" > < / a > < span class = "lineno" > 86< / span > < / div >
< div class = "line" > < a id = "l00087" name = "l00087" > < / a > < span class = "lineno" > 87< / span > < span class = "keywordflow" > return< / span > dot;< / div >
< div class = "line" > < a id = "l00088" name = "l00088" > < / a > < span class = "lineno" > 88< / span > }< / div >
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< div class = "ttc" id = "astructvec__3d___html_a3339a40de7385fa55bee30be81c098c6" > < div class = "ttname" > < a href = "../../d5/db4/structvec__3d__.html#a3339a40de7385fa55bee30be81c098c6" > vec_3d_::z< / a > < / div > < div class = "ttdeci" > float z< / div > < div class = "ttdoc" > Z co-ordinate.< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:25< / div > < / div >
< div class = "ttc" id = "astructvec__3d___html_a53462a5a195c9e16fb584f73fd66c3d0" > < div class = "ttname" > < a href = "../../d5/db4/structvec__3d__.html#a53462a5a195c9e16fb584f73fd66c3d0" > vec_3d_::x< / a > < / div > < div class = "ttdeci" > float x< / div > < div class = "ttdoc" > X co-ordinate.< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:23< / div > < / div >
< div class = "ttc" id = "astructvec__3d___html_a76098d39a382838df3b4b48c3443413b" > < div class = "ttname" > < a href = "../../d5/db4/structvec__3d__.html#a76098d39a382838df3b4b48c3443413b" > vec_3d_::y< / a > < / div > < div class = "ttdeci" > float y< / div > < div class = "ttdoc" > Y co-ordinate.< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:24< / div > < / div >
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< a id = "ga55be1d766c8a824b35d97e79744834d8" name = "ga55be1d766c8a824b35d97e79744834d8" > < / a >
< h2 class = "memtitle" > < span class = "permalink" > < a href = "#ga55be1d766c8a824b35d97e79744834d8" > ◆ < / a > < / span > get_angle()< / h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > double get_angle < / td >
< td > (< / td >
< td class = "paramtype" > const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *  < / td >
< td class = "paramname" > < em > a< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *  < / td >
< td class = "paramname" > < em > b< / em >   < / td >
< / tr >
< tr >
< td > < / td >
< td > )< / td >
< td > < / td > < td > < / td >
< / tr >
< / table >
< / div > < div class = "memdoc" >
< p > Obtain the angle between two given vectors. < / p >
< p class = "formulaDsp" >
\[\alpha=acos\left(\frac{\vec{a} \cdot \vec{b}}{\lVert\vec{a}\rVert \cdot \lVert\vec{b}\rVert}\right)\]
< / p >
< dl class = "params" > < dt > Parameters< / dt > < dd >
< table class = "params" >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > a< / td > < td > first input vector < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > b< / td > < td > second input vector < / td > < / tr >
< / table >
< / dd >
< / dl >
< dl class = "section return" > < dt > Returns< / dt > < dd > angle between \(\vec{a}\) and \(\vec{b}\) in radians < / dd > < / dl >
< p > < The norm of vector a< / p >
< p > < The norm of vector b< / p >
< p > detect possible division by 0 - the angle is not defined in this case< / p >
< div class = "fragment" > < div class = "line" > < a id = "l00203" name = "l00203" > < / a > < span class = "lineno" > 203< / span > {< / div >
< div class = "line" > < a id = "l00204" name = "l00204" > < / a > < span class = "lineno" > 204< / span > < span class = "keywordtype" > double< / span > alpha, cos_alpha;< / div >
< div class = "line" > < a id = "l00205" name = "l00205" > < / a > < span class = "lineno" > 205< / span > < span class = "keywordtype" > float< / span > norm_a = < a class = "code hl_function" href = "../../de/d7b/group__vec__3d.html#ga94805165d037d111d7d7c0df99e3a5de" > vector_norm< / a > (a); < span class = "comment" > ///< The norm of vector a< / span > < / div >
< div class = "line" > < a id = "l00206" name = "l00206" > < / a > < span class = "lineno" > 206< / span > < span class = "keywordtype" > float< / span > norm_b = < a class = "code hl_function" href = "../../de/d7b/group__vec__3d.html#ga94805165d037d111d7d7c0df99e3a5de" > vector_norm< / a > (b); < span class = "comment" > ///< The norm of vector b< / span > < / div >
< div class = "line" > < a id = "l00207" name = "l00207" > < / a > < span class = "lineno" > 207< / span > < span class = "keywordflow" > if< / span > (fabsf(norm_a) < < a class = "code hl_define" href = "../../de/d5a/group__quaternions.html#ga002b2f4894492820fe708b1b7e7c5e70" > EPSILON< / a > || fabsf(norm_b) < < a class = "code hl_define" href = "../../de/d5a/group__quaternions.html#ga002b2f4894492820fe708b1b7e7c5e70" > EPSILON< / a > ) < span class = "comment" > /// detect possible division by 0 - the angle is not defined in this case< / span > < / div >
< div class = "line" > < a id = "l00208" name = "l00208" > < / a > < span class = "lineno" > 208< / span > { < / div >
< div class = "line" > < a id = "l00209" name = "l00209" > < / a > < span class = "lineno" > 209< / span > < span class = "keywordflow" > return< / span > NAN; < / div >
< div class = "line" > < a id = "l00210" name = "l00210" > < / a > < span class = "lineno" > 210< / span > }< / div >
< div class = "line" > < a id = "l00211" name = "l00211" > < / a > < span class = "lineno" > 211< / span > < / div >
< div class = "line" > < a id = "l00212" name = "l00212" > < / a > < span class = "lineno" > 212< / span > cos_alpha = < a class = "code hl_function" href = "../../de/d7b/group__vec__3d.html#ga243e74d542d0d4d14fa3ae0bc2170d84" > dot_prod< / a > (a, b) / (norm_a * norm_b);< / div >
< div class = "line" > < a id = "l00213" name = "l00213" > < / a > < span class = "lineno" > 213< / span > alpha = acos(cos_alpha); < span class = "comment" > // delivers the radian< / span > < / div >
< div class = "line" > < a id = "l00214" name = "l00214" > < / a > < span class = "lineno" > 214< / span > < span class = "keywordflow" > return< / span > alpha; < span class = "comment" > // in range from -1 to 1< / span > < / div >
< div class = "line" > < a id = "l00215" name = "l00215" > < / a > < span class = "lineno" > 215< / span > }< / div >
< div class = "ttc" id = "agroup__quaternions_html_ga002b2f4894492820fe708b1b7e7c5e70" > < div class = "ttname" > < a href = "../../de/d5a/group__quaternions.html#ga002b2f4894492820fe708b1b7e7c5e70" > EPSILON< / a > < / div > < div class = "ttdeci" > #define EPSILON< / div > < div class = "ttdoc" > Minimum recognizable value.< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:14< / div > < / div >
< div class = "ttc" id = "agroup__vec__3d_html_ga243e74d542d0d4d14fa3ae0bc2170d84" > < div class = "ttname" > < a href = "../../de/d7b/group__vec__3d.html#ga243e74d542d0d4d14fa3ae0bc2170d84" > dot_prod< / a > < / div > < div class = "ttdeci" > float dot_prod(const vec_3d *a, const vec_3d *b)< / div > < div class = "ttdoc" > Obtain the dot product of two 3D vectors.< / div > < div class = "ttdef" > < b > Definition:< / b > vectors_3d.c:76< / div > < / div >
< div class = "ttc" id = "agroup__vec__3d_html_ga94805165d037d111d7d7c0df99e3a5de" > < div class = "ttname" > < a href = "../../de/d7b/group__vec__3d.html#ga94805165d037d111d7d7c0df99e3a5de" > vector_norm< / a > < / div > < div class = "ttdeci" > float vector_norm(const vec_3d *a)< / div > < div class = "ttdoc" > Compute the norm a vector.< / div > < div class = "ttdef" > < b > Definition:< / b > vectors_3d.c:138< / div > < / div >
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Here is the call graph for this function:< / div >
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< div class = "center" > < iframe scrolling = "no" frameborder = "0" src = "../../de/d7b/group__vec__3d_ga55be1d766c8a824b35d97e79744834d8_cgraph.svg" width = "358" height = "63" > < p > < b > This browser is not able to show SVG: try Firefox, Chrome, Safari, or Opera instead.< / b > < / p > < / iframe >
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< a id = "ga5082b0720c2cc51ae84bf19bd76dc849" name = "ga5082b0720c2cc51ae84bf19bd76dc849" > < / a >
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< h2 class = "memtitle" > < span class = "permalink" > < a href = "#ga5082b0720c2cc51ae84bf19bd76dc849" > ◆ < / a > < / span > get_cross_matrix()< / h2 >
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< td class = "memname" > < a class = "el" href = "../../dd/d7a/group__matrix.html#ga9f844010cb96591fa94c9d533a500ab7" > mat_3x3< / a > get_cross_matrix < / td >
< td > (< / td >
< td class = "paramtype" > const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *  < / td >
< td class = "paramname" > < em > a< / em > < / td > < td > )< / td >
< td > < / td >
< / tr >
< / table >
< / div > < div class = "memdoc" >
< p > The cross product of vectors can be represented as a matrix multiplication operation. < / p >
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< p > This function obtains the < code > 3x3< / code > matrix of the cross-product operator from the first vector. < / p > < p class = "formulaDsp" >
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\[\begin{align*} \left(\vec{a}\times\right)\vec{b} & = \tilde{A}_a\vec{b}\\ \tilde{A}_a & = \begin{bmatrix}0& -a_z& a_y\\a_z& 0& -a_x\\-a_y& a_x& 0\end{bmatrix} \end{align*}\]
< / p >
< dl class = "params" > < dt > Parameters< / dt > < dd >
< table class = "params" >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > a< / td > < td > input vector < / td > < / tr >
< / table >
< / dd >
< / dl >
< dl class = "section return" > < dt > Returns< / dt > < dd > the < code > 3x3< / code > matrix for the cross product operator \(\left(\vec{a}\times\right)\) < / dd > < / dl >
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< div class = "fragment" > < div class = "line" > < a id = "l00189" name = "l00189" > < / a > < span class = "lineno" > 189< / span > {< / div >
< div class = "line" > < a id = "l00190" name = "l00190" > < / a > < span class = "lineno" > 190< / span > < a class = "code hl_struct" href = "../../d9/d8b/structmat__3x3__.html" > mat_3x3< / a > A = {0., -a-> z, a-> y, a-> z, 0., -a-> x, -a-> y, a-> x, 0.};< / div >
< div class = "line" > < a id = "l00191" name = "l00191" > < / a > < span class = "lineno" > 191< / span > < span class = "keywordflow" > return< / span > A;< / div >
< div class = "line" > < a id = "l00192" name = "l00192" > < / a > < span class = "lineno" > 192< / span > }< / div >
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< div class = "ttc" id = "astructmat__3x3___html" > < div class = "ttname" > < a href = "../../d9/d8b/structmat__3x3__.html" > mat_3x3_< / a > < / div > < div class = "ttdoc" > A 3x3 Matrix type definition.< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:35< / div > < / div >
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< a id = "gae25e1f2e973933bef65838601e2de0af" name = "gae25e1f2e973933bef65838601e2de0af" > < / a >
< h2 class = "memtitle" > < span class = "permalink" > < a href = "#gae25e1f2e973933bef65838601e2de0af" > ◆ < / a > < / span > print_vector()< / h2 >
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< td class = "memname" > const char * print_vector < / td >
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< td > (< / td >
< td class = "paramtype" > const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *  < / td >
< td class = "paramname" > < em > a< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > const char *  < / td >
< td class = "paramname" > < em > name< / em >   < / td >
< / tr >
< tr >
< td > < / td >
< td > )< / td >
< td > < / td > < td > < / td >
< / tr >
< / table >
< / div > < div class = "memdoc" >
< p > Print formatted vector on stdout. < / p >
< dl class = "params" > < dt > Parameters< / dt > < dd >
< table class = "params" >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > a< / td > < td > vector to print < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > name< / td > < td > name of the vector < / td > < / tr >
< / table >
< / dd >
< / dl >
< dl class = "section return" > < dt > Returns< / dt > < dd > string representation of vector < / dd > < / dl >
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< div class = "fragment" > < div class = "line" > < a id = "l00123" name = "l00123" > < / a > < span class = "lineno" > 123< / span > {< / div >
< div class = "line" > < a id = "l00124" name = "l00124" > < / a > < span class = "lineno" > 124< / span > < span class = "keyword" > static< / span > < span class = "keywordtype" > char< / span > vec_str[100]; < span class = "comment" > // static to ensure the string life extends the< / span > < / div >
< div class = "line" > < a id = "l00125" name = "l00125" > < / a > < span class = "lineno" > 125< / span > < span class = "comment" > // life of function< / span > < / div >
< div class = "line" > < a id = "l00126" name = "l00126" > < / a > < span class = "lineno" > 126< / span > < / div >
< div class = "line" > < a id = "l00127" name = "l00127" > < / a > < span class = "lineno" > 127< / span > snprintf(vec_str, 99, < span class = "stringliteral" > " vec(%s) = (%.3g)i + (%.3g)j + (%.3g)k\n" < / span > , name, a-> x,< / div >
< div class = "line" > < a id = "l00128" name = "l00128" > < / a > < span class = "lineno" > 128< / span > a-> y, a-> z);< / div >
< div class = "line" > < a id = "l00129" name = "l00129" > < / a > < span class = "lineno" > 129< / span > < span class = "keywordflow" > return< / span > vec_str;< / div >
< div class = "line" > < a id = "l00130" name = "l00130" > < / a > < span class = "lineno" > 130< / span > }< / div >
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< a id = "ga3cdfd8378a0b115563ea6c561bb46b7e" name = "ga3cdfd8378a0b115563ea6c561bb46b7e" > < / a >
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< h2 class = "memtitle" > < span class = "permalink" > < a href = "#ga3cdfd8378a0b115563ea6c561bb46b7e" > ◆ < / a > < / span > unit_vec()< / h2 >
< div class = "memitem" >
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< table class = "memname" >
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< td class = "memname" > < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > unit_vec < / td >
< td > (< / td >
< td class = "paramtype" > const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *  < / td >
< td class = "paramname" > < em > a< / em > < / td > < td > )< / td >
< td > < / td >
< / tr >
< / table >
< / div > < div class = "memdoc" >
< p > Obtain unit vector in the same direction as given vector. < / p >
< p class = "formulaDsp" >
\[\hat{a}=\frac{\vec{a}}{\lVert\vec{a}\rVert}\]
< / p >
< dl class = "params" > < dt > Parameters< / dt > < dd >
< table class = "params" >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > a< / td > < td > input vector < / td > < / tr >
< / table >
< / dd >
< / dl >
< dl class = "section return" > < dt > Returns< / dt > < dd > n unit vector in the direction of \(\vec{a}\) < / dd > < / dl >
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< div class = "fragment" > < div class = "line" > < a id = "l00157" name = "l00157" > < / a > < span class = "lineno" > 157< / span > {< / div >
< div class = "line" > < a id = "l00158" name = "l00158" > < / a > < span class = "lineno" > 158< / span > < a class = "code hl_struct" href = "../../d5/db4/structvec__3d__.html" > vec_3d< / a > n = {0};< / div >
< div class = "line" > < a id = "l00159" name = "l00159" > < / a > < span class = "lineno" > 159< / span > < / div >
< div class = "line" > < a id = "l00160" name = "l00160" > < / a > < span class = "lineno" > 160< / span > < span class = "keywordtype" > float< / span > norm = < a class = "code hl_function" href = "../../de/d7b/group__vec__3d.html#ga94805165d037d111d7d7c0df99e3a5de" > vector_norm< / a > (a);< / div >
< div class = "line" > < a id = "l00161" name = "l00161" > < / a > < span class = "lineno" > 161< / span > < span class = "keywordflow" > if< / span > (fabsf(norm) < < a class = "code hl_define" href = "../../de/d5a/group__quaternions.html#ga002b2f4894492820fe708b1b7e7c5e70" > EPSILON< / a > )< / div >
< div class = "line" > < a id = "l00162" name = "l00162" > < / a > < span class = "lineno" > 162< / span > { < span class = "comment" > // detect possible divide by 0< / span > < / div >
< div class = "line" > < a id = "l00163" name = "l00163" > < / a > < span class = "lineno" > 163< / span > < span class = "keywordflow" > return< / span > n;< / div >
< div class = "line" > < a id = "l00164" name = "l00164" > < / a > < span class = "lineno" > 164< / span > }< / div >
< div class = "line" > < a id = "l00165" name = "l00165" > < / a > < span class = "lineno" > 165< / span > < / div >
< div class = "line" > < a id = "l00166" name = "l00166" > < / a > < span class = "lineno" > 166< / span > < span class = "keywordflow" > if< / span > (norm != 1.F) < span class = "comment" > // perform division only if needed< / span > < / div >
< div class = "line" > < a id = "l00167" name = "l00167" > < / a > < span class = "lineno" > 167< / span > {< / div >
< div class = "line" > < a id = "l00168" name = "l00168" > < / a > < span class = "lineno" > 168< / span > n.< a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a53462a5a195c9e16fb584f73fd66c3d0" > x< / a > = a-> x / norm;< / div >
< div class = "line" > < a id = "l00169" name = "l00169" > < / a > < span class = "lineno" > 169< / span > n.< a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a76098d39a382838df3b4b48c3443413b" > y< / a > = a-> y / norm;< / div >
< div class = "line" > < a id = "l00170" name = "l00170" > < / a > < span class = "lineno" > 170< / span > n.< a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a3339a40de7385fa55bee30be81c098c6" > z< / a > = a-> z / norm;< / div >
< div class = "line" > < a id = "l00171" name = "l00171" > < / a > < span class = "lineno" > 171< / span > }< / div >
< div class = "line" > < a id = "l00172" name = "l00172" > < / a > < span class = "lineno" > 172< / span > < span class = "keywordflow" > return< / span > n;< / div >
< div class = "line" > < a id = "l00173" name = "l00173" > < / a > < span class = "lineno" > 173< / span > }< / div >
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< div class = "ttc" id = "astructvec__3d___html" > < div class = "ttname" > < a href = "../../d5/db4/structvec__3d__.html" > vec_3d_< / a > < / div > < div class = "ttdoc" > 3D vector type< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:22< / div > < / div >
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< / div > <!-- fragment --> < div class = "dynheader" >
Here is the call graph for this function:< / div >
< div class = "dyncontent" >
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< div class = "center" > < iframe scrolling = "no" frameborder = "0" src = "../../de/d7b/group__vec__3d_ga3cdfd8378a0b115563ea6c561bb46b7e_cgraph.svg" width = "350" height = "38" > < p > < b > This browser is not able to show SVG: try Firefox, Chrome, Safari, or Opera instead.< / b > < / p > < / iframe >
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< / div >
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< a id = "gaa6b5ac18429ffb0131dc8593d31c25a4" name = "gaa6b5ac18429ffb0131dc8593d31c25a4" > < / a >
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< h2 class = "memtitle" > < span class = "permalink" > < a href = "#gaa6b5ac18429ffb0131dc8593d31c25a4" > ◆ < / a > < / span > vector_add()< / h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > vector_add < / td >
< td > (< / td >
< td class = "paramtype" > const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *  < / td >
< td class = "paramname" > < em > a< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *  < / td >
< td class = "paramname" > < em > b< / em >   < / td >
< / tr >
< tr >
< td > < / td >
< td > )< / td >
< td > < / td > < td > < / td >
< / tr >
< / table >
< / div > < div class = "memdoc" >
< p > Add one vector to another. < / p >
< p class = "formulaDsp" >
\[ \vec{c}=\vec{a}+\vec{b}=\left(a_x+b_x\right)\hat{i}+ \left(a_y+b_y\right)\hat{j}+\left(a_z+b_z\right)\hat{k}\]
< / p >
< dl class = "params" > < dt > Parameters< / dt > < dd >
< table class = "params" >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > a< / td > < td > vector to add to < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > b< / td > < td > vector to add < / td > < / tr >
< / table >
< / dd >
< / dl >
< dl class = "section return" > < dt > Returns< / dt > < dd > resultant vector < / dd > < / dl >
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< div class = "fragment" > < div class = "line" > < a id = "l00054" name = "l00054" > < / a > < span class = "lineno" > 54< / span > {< / div >
< div class = "line" > < a id = "l00055" name = "l00055" > < / a > < span class = "lineno" > 55< / span > < a class = "code hl_struct" href = "../../d5/db4/structvec__3d__.html" > vec_3d< / a > out;< / div >
< div class = "line" > < a id = "l00056" name = "l00056" > < / a > < span class = "lineno" > 56< / span > < span class = "preprocessor" > #ifdef LIBQUAT_ARM< / span > < / div >
< div class = "line" > < a id = "l00057" name = "l00057" > < / a > < span class = "lineno" > 57< / span > arm_add_f32((< span class = "keywordtype" > float< / span > *)a, (< span class = "keywordtype" > float< / span > *)b, (< span class = "keywordtype" > float< / span > *)& out);< / div >
< div class = "line" > < a id = "l00058" name = "l00058" > < / a > < span class = "lineno" > 58< / span > < span class = "preprocessor" > #else< / span > < / div >
< div class = "line" > < a id = "l00059" name = "l00059" > < / a > < span class = "lineno" > 59< / span > out.< a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a53462a5a195c9e16fb584f73fd66c3d0" > x< / a > = a-> x + b-> x;< / div >
< div class = "line" > < a id = "l00060" name = "l00060" > < / a > < span class = "lineno" > 60< / span > out.< a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a76098d39a382838df3b4b48c3443413b" > y< / a > = a-> y + b-> y;< / div >
< div class = "line" > < a id = "l00061" name = "l00061" > < / a > < span class = "lineno" > 61< / span > out.< a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a3339a40de7385fa55bee30be81c098c6" > z< / a > = a-> z + b-> z;< / div >
< div class = "line" > < a id = "l00062" name = "l00062" > < / a > < span class = "lineno" > 62< / span > < span class = "preprocessor" > #endif< / span > < / div >
< div class = "line" > < a id = "l00063" name = "l00063" > < / a > < span class = "lineno" > 63< / span > < / div >
< div class = "line" > < a id = "l00064" name = "l00064" > < / a > < span class = "lineno" > 64< / span > < span class = "keywordflow" > return< / span > out;< / div >
< div class = "line" > < a id = "l00065" name = "l00065" > < / a > < span class = "lineno" > 65< / span > }< / div >
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< / div >
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< a id = "ga94805165d037d111d7d7c0df99e3a5de" name = "ga94805165d037d111d7d7c0df99e3a5de" > < / a >
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< h2 class = "memtitle" > < span class = "permalink" > < a href = "#ga94805165d037d111d7d7c0df99e3a5de" > ◆ < / a > < / span > vector_norm()< / h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > float vector_norm < / td >
< td > (< / td >
< td class = "paramtype" > const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *  < / td >
< td class = "paramname" > < em > a< / em > < / td > < td > )< / td >
< td > < / td >
< / tr >
< / table >
< / div > < div class = "memdoc" >
< p > Compute the norm a vector. < / p >
< p class = "formulaDsp" >
\[\lVert\vec{a}\rVert = \sqrt{\vec{a}\cdot\vec{a}} \]
< / p >
< dl class = "params" > < dt > Parameters< / dt > < dd >
< table class = "params" >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > a< / td > < td > input vector < / td > < / tr >
< / table >
< / dd >
< / dl >
< dl class = "section return" > < dt > Returns< / dt > < dd > norm of the given vector < / dd > < / dl >
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< div class = "fragment" > < div class = "line" > < a id = "l00139" name = "l00139" > < / a > < span class = "lineno" > 139< / span > {< / div >
< div class = "line" > < a id = "l00140" name = "l00140" > < / a > < span class = "lineno" > 140< / span > < span class = "keywordtype" > float< / span > n = < a class = "code hl_function" href = "../../de/d7b/group__vec__3d.html#ga243e74d542d0d4d14fa3ae0bc2170d84" > dot_prod< / a > (a, a);< / div >
< div class = "line" > < a id = "l00141" name = "l00141" > < / a > < span class = "lineno" > 141< / span > < span class = "preprocessor" > #ifdef LIBQUAT_ARM< / span > < / div >
< div class = "line" > < a id = "l00142" name = "l00142" > < / a > < span class = "lineno" > 142< / span > arm_sqrt_f32(*n, n);< / div >
< div class = "line" > < a id = "l00143" name = "l00143" > < / a > < span class = "lineno" > 143< / span > < span class = "preprocessor" > #else< / span > < / div >
< div class = "line" > < a id = "l00144" name = "l00144" > < / a > < span class = "lineno" > 144< / span > n = sqrtf(n);< / div >
< div class = "line" > < a id = "l00145" name = "l00145" > < / a > < span class = "lineno" > 145< / span > < span class = "preprocessor" > #endif< / span > < / div >
< div class = "line" > < a id = "l00146" name = "l00146" > < / a > < span class = "lineno" > 146< / span > < / div >
< div class = "line" > < a id = "l00147" name = "l00147" > < / a > < span class = "lineno" > 147< / span > < span class = "keywordflow" > return< / span > n;< / div >
< div class = "line" > < a id = "l00148" name = "l00148" > < / a > < span class = "lineno" > 148< / span > }< / div >
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< / div > <!-- fragment --> < div class = "dynheader" >
Here is the call graph for this function:< / div >
< div class = "dyncontent" >
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< div class = "center" > < iframe scrolling = "no" frameborder = "0" src = "../../de/d7b/group__vec__3d_ga94805165d037d111d7d7c0df99e3a5de_cgraph.svg" width = "230" height = "38" > < p > < b > This browser is not able to show SVG: try Firefox, Chrome, Safari, or Opera instead.< / b > < / p > < / iframe >
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< / div >
< / div >
< / div >
< / div >
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< a id = "gae4a49e6bdf13df949e8b23c7925bb5f5" name = "gae4a49e6bdf13df949e8b23c7925bb5f5" > < / a >
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< h2 class = "memtitle" > < span class = "permalink" > < a href = "#gae4a49e6bdf13df949e8b23c7925bb5f5" > ◆ < / a > < / span > vector_prod()< / h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > vector_prod < / td >
< td > (< / td >
< td class = "paramtype" > const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *  < / td >
< td class = "paramname" > < em > a< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *  < / td >
< td class = "paramname" > < em > b< / em >   < / td >
< / tr >
< tr >
< td > < / td >
< td > )< / td >
< td > < / td > < td > < / td >
< / tr >
< / table >
< / div > < div class = "memdoc" >
< p > Compute the vector product of two 3d vectors. < / p >
< p class = "formulaDsp" >
\[\begin{align*} \vec{a}\times\vec{b} & = \begin{vmatrix} \hat{i} & \hat{j} & \hat{k}\\ a_x & a_y & a_z\\ b_x & b_y & b_z \end{vmatrix}\\ & = \left(a_yb_z-b_ya_z\right)\hat{i} - \left(a_xb_z-b_xa_z\right)\hat{j} + \left(a_xb_y-b_xa_y\right)\hat{k} \end{align*} \]
< / p >
< dl class = "params" > < dt > Parameters< / dt > < dd >
< table class = "params" >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > a< / td > < td > first vector \(\vec{a}\) < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > b< / td > < td > second vector \(\vec{b}\) < / td > < / tr >
< / table >
< / dd >
< / dl >
< dl class = "section return" > < dt > Returns< / dt > < dd > resultant vector \(\vec{o}=\vec{a}\times\vec{b}\) < / dd > < / dl >
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< div class = "fragment" > < div class = "line" > < a id = "l00106" name = "l00106" > < / a > < span class = "lineno" > 106< / span > {< / div >
< div class = "line" > < a id = "l00107" name = "l00107" > < / a > < span class = "lineno" > 107< / span > < a class = "code hl_struct" href = "../../d5/db4/structvec__3d__.html" > vec_3d< / a > out; < span class = "comment" > // better this way to avoid copying results to input< / span > < / div >
< div class = "line" > < a id = "l00108" name = "l00108" > < / a > < span class = "lineno" > 108< / span > < span class = "comment" > // vectors themselves< / span > < / div >
< div class = "line" > < a id = "l00109" name = "l00109" > < / a > < span class = "lineno" > 109< / span > out.< a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a53462a5a195c9e16fb584f73fd66c3d0" > x< / a > = a-> y * b-> < a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a3339a40de7385fa55bee30be81c098c6" > z< / a > - a-> z * b-> < a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a76098d39a382838df3b4b48c3443413b" > y< / a > ;< / div >
< div class = "line" > < a id = "l00110" name = "l00110" > < / a > < span class = "lineno" > 110< / span > out.< a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a76098d39a382838df3b4b48c3443413b" > y< / a > = -a-> x * b-> < a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a3339a40de7385fa55bee30be81c098c6" > z< / a > + a-> z * b-> < a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a53462a5a195c9e16fb584f73fd66c3d0" > x< / a > ;< / div >
< div class = "line" > < a id = "l00111" name = "l00111" > < / a > < span class = "lineno" > 111< / span > out.< a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a3339a40de7385fa55bee30be81c098c6" > z< / a > = a-> x * b-> < a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a76098d39a382838df3b4b48c3443413b" > y< / a > - a-> y * b-> < a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a53462a5a195c9e16fb584f73fd66c3d0" > x< / a > ;< / div >
< div class = "line" > < a id = "l00112" name = "l00112" > < / a > < span class = "lineno" > 112< / span > < / div >
< div class = "line" > < a id = "l00113" name = "l00113" > < / a > < span class = "lineno" > 113< / span > < span class = "keywordflow" > return< / span > out;< / div >
< div class = "line" > < a id = "l00114" name = "l00114" > < / a > < span class = "lineno" > 114< / span > }< / div >
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< a id = "ga97da356cb7d5da73a0ac9bad09a435cc" name = "ga97da356cb7d5da73a0ac9bad09a435cc" > < / a >
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< h2 class = "memtitle" > < span class = "permalink" > < a href = "#ga97da356cb7d5da73a0ac9bad09a435cc" > ◆ < / a > < / span > vector_sub()< / h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > vector_sub < / td >
< td > (< / td >
< td class = "paramtype" > const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *  < / td >
< td class = "paramname" > < em > a< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > const < a class = "el" href = "../../de/d7b/group__vec__3d.html#gaf9ee870d4922e488bdd3e7262485c270" > vec_3d< / a > *  < / td >
< td class = "paramname" > < em > b< / em >   < / td >
< / tr >
< tr >
< td > < / td >
< td > )< / td >
< td > < / td > < td > < / td >
< / tr >
< / table >
< / div > < div class = "memdoc" >
< p > Subtract one vector from another. < / p >
< p class = "formulaDsp" >
\[ \vec{c}=\vec{a}-\vec{b}=\left(a_x-b_x\right)\hat{i}+ \left(a_y-b_y\right)\hat{j}+\left(a_z-b_z\right)\hat{k}\]
< / p >
< dl class = "params" > < dt > Parameters< / dt > < dd >
< table class = "params" >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > a< / td > < td > vector to subtract from < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > b< / td > < td > vector to subtract < / td > < / tr >
< / table >
< / dd >
< / dl >
< dl class = "section return" > < dt > Returns< / dt > < dd > resultant vector < / dd > < / dl >
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< div class = "fragment" > < div class = "line" > < a id = "l00032" name = "l00032" > < / a > < span class = "lineno" > 32< / span > {< / div >
< div class = "line" > < a id = "l00033" name = "l00033" > < / a > < span class = "lineno" > 33< / span > < a class = "code hl_struct" href = "../../d5/db4/structvec__3d__.html" > vec_3d< / a > out;< / div >
< div class = "line" > < a id = "l00034" name = "l00034" > < / a > < span class = "lineno" > 34< / span > < span class = "preprocessor" > #ifdef LIBQUAT_ARM< / span > < / div >
< div class = "line" > < a id = "l00035" name = "l00035" > < / a > < span class = "lineno" > 35< / span > arm_sub_f32((< span class = "keywordtype" > float< / span > *)a, (< span class = "keywordtype" > float< / span > *)b, (< span class = "keywordtype" > float< / span > *)& out);< / div >
< div class = "line" > < a id = "l00036" name = "l00036" > < / a > < span class = "lineno" > 36< / span > < span class = "preprocessor" > #else< / span > < / div >
< div class = "line" > < a id = "l00037" name = "l00037" > < / a > < span class = "lineno" > 37< / span > out.< a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a53462a5a195c9e16fb584f73fd66c3d0" > x< / a > = a-> x - b-> x;< / div >
< div class = "line" > < a id = "l00038" name = "l00038" > < / a > < span class = "lineno" > 38< / span > out.< a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a76098d39a382838df3b4b48c3443413b" > y< / a > = a-> y - b-> y;< / div >
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