euclid3D.h

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/* This library is free software; you can redistribute it and/or
   modify it under the terms of the GNU Lesser General Public
   License as published by the Free Software Foundation; either
   version 2.1 of the License, or (at your option) any later version.

   This library is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
   Lesser General Public License for more details.

   You should have received a copy of the GNU Lesser General Public
   License along with this library; if not, write to the Free Software
   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef _GAN_EUCLID3D_H
#define _GAN_EUCLID3D_H

#ifdef __cplusplus
extern "C" {
#endif

#include <gandalf/vision/rotate3D.h>
#include <gandalf/linalg/4x4matrix.h>
#include <gandalf/linalg/3x4matrix.h>

typedef struct
{
   Gan_Rot3D   rot;

   Gan_Vector3 trans;
} Gan_Euclid3D;

typedef struct Gan_Euclid3D_TRCov
{
   Gan_Rot3D_Type type;

   union
   {
      Gan_Matrix34 q;

      Gan_Matrix33 le;
   } d;
} Gan_Euclid3D_TRCov;

typedef struct
{
   Gan_Rot3D_Cov      Crr;

   Gan_Euclid3D_TRCov Ctr;

   Gan_SquMatrix33    Ctt;
} Gan_Euclid3r_Cov;

 Gan_Bool gan_euclid3D_build_quaternion ( Gan_Euclid3D *euc,
                                         double TX, double TY, double TZ,
                                         double q0, double q1,
                                         double q2, double q3 );
 Gan_Bool gan_euclid3D_build_exponential ( Gan_Euclid3D *euc,
                                          double TX, double TY, double TZ,
                                          double rx, double ry, double rz );
 Gan_Bool gan_euclid3D_build_angle_axis ( Gan_Euclid3D *euc,
                                         double TX, double TY, double TZ,
                                         double angle,
                                         double ax, double ay, double az );
 Gan_Bool gan_euclid3D_build_matrix ( Gan_Euclid3D *euc,
                                     double TX, double TY, double TZ,
                                     double Rxx, double Rxy, double Rxz,
                                     double Ryx, double Ryy, double Ryz,
                                     double Rzx, double Rzy, double Rzz );
 void         gan_euclid3D_ident_q ( Gan_Euclid3D *euc,
                                    Gan_Rot3D_Type rot_type );
 Gan_Euclid3D gan_euclid3D_ident_s ( Gan_Rot3D_Type rot_type );
 Gan_Bool     gan_euclid3D_scale_q ( Gan_Euclid3D *euc_src, double scale,
                                    Gan_Euclid3D *euc_dest );
 Gan_Euclid3D gan_euclid3D_scale_s ( Gan_Euclid3D *euc, double scale );

 Gan_Bool gan_euclid3D_scale_i ( Gan_Euclid3D *euc1, double s );

 Gan_Bool gan_euclid3D_divide_q ( Gan_Euclid3D *euc1, double s,
                                 Gan_Euclid3D *euc2 );

 Gan_Bool gan_euclid3D_divide_i ( Gan_Euclid3D *euc1, double s );

 Gan_Bool gan_euclid3D_add_q ( Gan_Euclid3D *euc1, Gan_Euclid3D *euc2,
                              Gan_Euclid3D *euc3 );

 Gan_Bool gan_euclid3D_sub_q ( Gan_Euclid3D *euc1, Gan_Euclid3D *euc2,
                              Gan_Euclid3D *euc3 );

#ifdef __cplusplus
}
#endif

#endif /* #ifndef _GAN_EUCLID3D_H */

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