cartesian2d.h

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// Copyright (c) 2010-2016 The YP-Spur Authors, except where otherwise indicated.
//
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#ifndef __AUXLIB_CARTESIAN2D_H
#define __AUXLIB_CARTESIAN2D_H

#ifdef __cplusplus
extern "C" {
#endif  // __cplusplus

#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <math.h>

typedef struct cs_t *CSptr;
typedef struct cs_t
{
  double x;
  double y;
  double theta;
  CSptr parent;
  CSptr child;
  CSptr brother;
  int level;
} CoordinateSystem;

CSptr CS_add(CSptr parent_cs, double x, double y, double theta);
int CS_delete(CSptr target_cs);
int CS_set(CSptr target_cs, double x, double y, double theta);
int CS_set_on_CS(CSptr target_cs, CSptr on_cs, double x, double y, double theta);
void CS_turn_base(double *x, double *y, double *theta);

void CS_recursive_trans(CSptr target_cs, CSptr now_cs, double *x, double *y, double *theta);
void inv_trans_cs(CSptr target_cs, double *x, double *y, double *theta);
void trans_cs(CSptr target_cs, double *x, double *y, double *theta);
void trace_trans_cs(CSptr target_cs, double *x, double *y, double *theta);

#ifdef __cplusplus
}
#endif  // __cplusplus
#endif  // __AUXLIB_CARTESIAN2D_H