ArDrone SDK 1.8 added

[mardrone] / mardrone / ARDrone_SDK_Version_1_8_20110726 / ARDroneLib / Soft / Lib / Maths / matrices.h

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/Soft/Lib/Maths/matrices.h b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/Soft/Lib/Maths/matrices.h
new file mode 100644 (file)
index 0000000..1924c5d
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/Soft/Lib/Maths/matrices.h
@@ -0,0 +1,93 @@
+/**
+ *  \file     matrices.h
+ *  \brief    Matrices library used by ARDrone
+ *  \author   Jean-Baptiste Lanfrey <jean-baptiste.lanfrey@parrot.com>
+ *  \version  1.0
+ */
+
+#ifndef _MATRICES_H_
+#define _MATRICES_H_
+
+#include <VP_Os/vp_os_types.h>
+
+typedef struct _matrix33_t
+{
+  float32_t m11;
+  float32_t m12;
+  float32_t m13;
+  float32_t m21;
+  float32_t m22;
+  float32_t m23;
+  float32_t m31;
+  float32_t m32;
+  float32_t m33;
+} matrix33_t;
+
+typedef struct _vector31_t {
+  union {
+    float32_t v[3];
+    struct
+    {
+      float32_t x;
+      float32_t y;
+      float32_t z;
+    };
+  };
+} vector31_t;
+
+typedef union _vector21_t {
+  float32_t v[2];
+  struct
+  {
+    float32_t x;
+    float32_t y;
+  };
+} vector21_t;
+
+extern const matrix33_t matrix_id3;
+extern const vector31_t vector31_zero;
+extern const vector31_t vector31_z;
+
+// TODO Documentation
+
+// Multiplies two matrices m1 & m2. Stores result in out.
+void mul_mat( matrix33_t* out, matrix33_t *m1, matrix33_t *m2 );
+
+
+void add_mat( matrix33_t* out, matrix33_t *m1, matrix33_t *m );
+
+
+void mulvec_mat( vector31_t* out, matrix33_t *m1, vector31_t *v1 );
+
+
+void transpose_mat( matrix33_t *out, matrix33_t *m1 );
+
+
+void mulconst_mat( matrix33_t *out, matrix33_t *m1, float32_t k );
+
+
+void cross_vec( vector31_t* out, vector31_t *v1, vector31_t *v2 );
+
+
+void dot_vec( float32_t* out, const vector31_t *v1, const vector31_t *v2 );
+
+
+void add_vec( vector31_t* out, vector31_t *v1, vector31_t *v2 );
+
+
+void mulconst_vec( vector31_t *out, vector31_t *V1, float32_t k );
+
+
+void skew_anti_symetric_vec( matrix33_t *out, vector31_t *v );
+
+
+void vex( vector31_t *out, matrix33_t *m );
+
+
+float32_t norm_vec( vector31_t *v );
+
+
+bool_t normalize_vec( vector31_t* v );
+
+
+#endif // _MATRICES_H_