mirror of https://github.com/TheAlgorithms/C
116 lines
2.4 KiB
C
116 lines
2.4 KiB
C
/**
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* @addtogroup quaternions Library for 3D Vectors & Quaternions
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* @{
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* @file
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* @brief Generic header that provides data types for 3D vectors and quaternions
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* @author Krishna Vedala
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*/
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#ifndef __LIBQUAT_H_
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#define __LIBQUAT_H_
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/** Minimum recognizable value. Any value less than this is considered to be
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* @f$=0@f$ */
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#define EPSILON 1e-9
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/**
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* @addtogroup vec_3d 3D Vector operations
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* @{
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*/
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/** 3D vector type */
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typedef struct vec_3d_
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{
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float x; /**< X co-ordinate */
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float y; /**< Y co-ordinate */
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float z; /**< Z co-ordinate */
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} vec_3d;
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/** @} */
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/**
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* @addtogroup matrix Matrix operations
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* @{
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*/
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/** A 3x3 Matrix type definition */
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typedef struct mat_3x3_
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{
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union
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{ /**< 3 element row 1 */
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float row1[3];
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vec_3d vec1;
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};
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union
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{ /**< 3 element row 2 */
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float row2[3];
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vec_3d vec2;
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};
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union
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{ /**< 3 element row 3 */
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float row3[3];
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vec_3d vec3;
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};
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} mat_3x3;
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/** @} */
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/** @addtogroup quats 3D Quaternion operations
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* @{
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*/
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/** a Quaternion type represented using a scalar \f$w\f$ or \f$q_0\f$ and a
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* 3D vector \f$\left(q_1,q_2,q_3\right)\f$
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*/
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typedef struct quaternion_
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{
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union
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{
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float w; /**< real part of quaternion */
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float q0; /**< real part of quaternion */
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};
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/**< dual part of quaternion */
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union
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{
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vec_3d dual; /**< can be a 3D vector */
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/** or individual values */
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struct
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{
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float q1, q2, q3;
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};
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};
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} quaternion;
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/** 3D Euler or Tait-Bryan angles (in radian) */
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typedef struct euler_
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{
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union
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{
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float roll; /**< or bank \f$\phi\f$ = rotation about X axis */
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float bank; /**< or roll \f$\phi\f$ = rotation about X axis */
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};
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union
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{
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float pitch; /**< or elevation \f$\theta\f$ = rotation about Y axis */
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float elevation; /**< or pitch \f$\theta\f$ = rotation about Y axis */
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};
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union
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{
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float yaw; /**< or heading \f$\psi\f$ = rotation about Z axis */
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float heading; /**< or yaw \f$\psi\f$ = rotation about Z axis */
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};
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} euler;
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/** @} */
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/** @addtogroup dual_quats 3D Dual-Quaternion operations
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* @{
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*/
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/** a dual quaternion type */
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typedef struct dual_quat_
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{
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quaternion real; /**< real part of dual quaternion */
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quaternion dual; /**< dual part of dual quaternion */
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} dual_quat;
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/** @} */
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#endif // __LIBQUAT_H_
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/** @} */
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