pf_vector.h
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2003
* Andrew Howard
* Brian Gerkey
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program 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 General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
/**************************************************************************
* Desc: Vector functions
* Author: Andrew Howard
* Date: 10 Dec 2002
* CVS: $Id: pf_vector.h 8108 2009-07-23 23:03:37Z thjc $
*************************************************************************/
#ifndef PF_VECTOR_H
#define PF_VECTOR_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdio.h>
// The basic vector
typedef struct
{
double v[3];
} pf_vector_t;
// The basic matrix
typedef struct
{
double m[3][3];
} pf_matrix_t;
// Return a zero vector
pf_vector_t pf_vector_zero();
// Check for NAN or INF in any component
int pf_vector_finite(pf_vector_t a);
// Print a vector
void pf_vector_fprintf(pf_vector_t s, FILE *file, const char *fmt);
// Simple vector addition
pf_vector_t pf_vector_add(pf_vector_t a, pf_vector_t b);
// Simple vector subtraction
pf_vector_t pf_vector_sub(pf_vector_t a, pf_vector_t b);
// Transform from local to global coords (a + b)
pf_vector_t pf_vector_coord_add(pf_vector_t a, pf_vector_t b);
// Transform from global to local coords (a - b)
pf_vector_t pf_vector_coord_sub(pf_vector_t a, pf_vector_t b);
// Return a zero matrix
pf_matrix_t pf_matrix_zero();
// Check for NAN or INF in any component
int pf_matrix_finite(pf_matrix_t a);
// Print a matrix
void pf_matrix_fprintf(pf_matrix_t s, FILE *file, const char *fmt);
// Compute the matrix inverse. Will also return the determinant,
// which should be checked for underflow (indicated singular matrix).
//pf_matrix_t pf_matrix_inverse(pf_matrix_t a, double *det);
// Decompose a covariance matrix [a] into a rotation matrix [r] and a
// diagonal matrix [d] such that a = r * d * r^T.
void pf_matrix_unitary(pf_matrix_t *r, pf_matrix_t *d, pf_matrix_t a);
#ifdef __cplusplus
}
#endif
#endif
pf_matrix_t
Definition: pf_vector.h:48
pf_vector_t
Definition: pf_vector.h:41

Last updated 12 September 2005 21:38:45