quaternions.h

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/*
 * Copyright (c) 2019-2021 Kevin Townsend
 *
 * SPDX-License-Identifier: Apache-2.0
 */
 
#ifndef ZEPHYR_INCLUDE_ZSL_QUATERNIONS_H_
#define ZEPHYR_INCLUDE_ZSL_QUATERNIONS_H_
 
#include <zsl/zsl.h>
#include <zsl/matrices.h>
#include <zsl/orientation/euler.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
struct zsl_quat {
    union {
        struct {
            zsl_real_t r;   
            zsl_real_t i;   
            zsl_real_t j;   
            zsl_real_t k;   
        };
        struct {
            zsl_real_t w;   
            zsl_real_t x;   
            zsl_real_t y;   
            zsl_real_t z;   
        } alias;
        zsl_real_t idx[4];      
    };
};
 
enum zsl_quat_type {
    ZSL_QUAT_TYPE_EMPTY     = 0,
    ZSL_QUAT_TYPE_IDENTITY  = 1,
};
 /* End of QUAT_STRUCTS group */
 
void zsl_quat_init(struct zsl_quat *q, enum zsl_quat_type type);
 /* End of QUAT_INIT group */
 
zsl_real_t zsl_quat_magn(struct zsl_quat *q);
 
int zsl_quat_to_unit(struct zsl_quat *q, struct zsl_quat *qn);
 
int zsl_quat_to_unit_d(struct zsl_quat *q);
 
bool zsl_quat_is_unit(struct zsl_quat *q);
 
int zsl_quat_scale(struct zsl_quat *q, zsl_real_t s, struct zsl_quat *qs);
 
int zsl_quat_scale_d(struct zsl_quat *q, zsl_real_t s);
 
int zsl_quat_mult(struct zsl_quat *qa, struct zsl_quat *qb,
          struct zsl_quat *qm);
 
int zsl_quat_exp(struct zsl_quat *q, struct zsl_quat *qe);
 
int zsl_quat_log(struct zsl_quat *q, struct zsl_quat *ql);
 
int zsl_quat_pow(struct zsl_quat *q, zsl_real_t pow,
         struct zsl_quat *qout);
 
int zsl_quat_conj(struct zsl_quat *q, struct zsl_quat *qc);
 
int zsl_quat_inv(struct zsl_quat *q, struct zsl_quat *qi);
 
int zsl_quat_inv_d(struct zsl_quat *q);
 
int zsl_quat_diff(struct zsl_quat *qa, struct zsl_quat *qb,
          struct zsl_quat *qd);
 
int zsl_quat_rot(struct zsl_quat *qa, struct zsl_quat *qb,
         struct zsl_quat *qr);
 
int zsl_quat_lerp(struct zsl_quat *qa, struct zsl_quat *qb,
          zsl_real_t t, struct zsl_quat *qi);
 
int zsl_quat_slerp(struct zsl_quat *qa, struct zsl_quat *qb,
           zsl_real_t t, struct zsl_quat *qi);
 
int zsl_quat_from_ang_vel(struct zsl_vec *w, struct zsl_quat *qin,
              zsl_real_t t, struct zsl_quat *qout);
 
int zsl_quat_from_ang_mom(struct zsl_vec *l, struct zsl_quat *qin,
              zsl_real_t *i, zsl_real_t t, struct zsl_quat *qout);
 
int zsl_quat_to_euler(struct zsl_quat *q, struct zsl_euler *e);
 
int zsl_quat_from_euler(struct zsl_euler *e, struct zsl_quat *q);
 
int zsl_quat_to_rot_mtx(struct zsl_quat *q, struct zsl_mtx *m);
 
int zsl_quat_from_rot_mtx(struct zsl_mtx *m, struct zsl_quat *q);
 
int zsl_quat_to_axis_angle(struct zsl_quat *q, struct zsl_vec *a,
               zsl_real_t *b);
 
int zsl_quat_from_axis_angle(struct zsl_vec *a, zsl_real_t *b,
                 struct zsl_quat *q);
 
int zsl_quat_print(struct zsl_quat *q);
 /* End of QUAT_FUNCTIONS group */
 /* End of QUATERNIONS group */
 
#ifdef __cplusplus
}
#endif
 
#endif /* ZEPHYR_INCLUDE_ZSL_QUATERNIONS_H_ */