xseuler.h

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//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
//  All rights reserved.
//  
//  Redistribution and use in source and binary forms, with or without modification,
//  are permitted provided that the following conditions are met:
//  
//  1.  Redistributions of source code must retain the above copyright notice,
//      this list of conditions, and the following disclaimer.
//  
//  2.  Redistributions in binary form must reproduce the above copyright notice,
//      this list of conditions, and the following disclaimer in the documentation
//      and/or other materials provided with the distribution.
//  
//  3.  Neither the names of the copyright holders nor the names of their contributors
//      may be used to endorse or promote products derived from this software without
//      specific prior written permission.
//  
//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
//  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
//  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
//  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
//  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
//  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
//  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
//  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
//  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
//  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
//  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
//  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
//  
 
 
//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
//  All rights reserved.
//  
//  Redistribution and use in source and binary forms, with or without modification,
//  are permitted provided that the following conditions are met:
//  
//  1.  Redistributions of source code must retain the above copyright notice,
//      this list of conditions, and the following disclaimer.
//  
//  2.  Redistributions in binary form must reproduce the above copyright notice,
//      this list of conditions, and the following disclaimer in the documentation
//      and/or other materials provided with the distribution.
//  
//  3.  Neither the names of the copyright holders nor the names of their contributors
//      may be used to endorse or promote products derived from this software without
//      specific prior written permission.
//  
//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
//  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
//  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
//  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
//  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
//  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
//  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
//  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
//  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
//  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
//  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
//  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
//  
 
#ifndef XSEULER_H
#define XSEULER_H
 
#include "xsmath.h"
#include <math.h>
 
#ifdef __cplusplus
#include "xsvector.h"
extern "C" {
#endif
#ifndef __cplusplus
#define XSEULER_INITIALIZER { { { XsMath_zero,XsMath_zero,XsMath_zero } } }
struct XsVector;
#endif
 
struct XsEuler;
struct XsQuaternion;
struct XsMatrix;
 
XSTYPES_DLL_API void XsEuler_destruct(struct XsEuler* thisPtr);
XSTYPES_DLL_API int XsEuler_empty(const struct XsEuler* thisPtr);
XSTYPES_DLL_API void XsEuler_fromQuaternion(struct XsEuler* thisPtr, const struct XsQuaternion* quat);
 
#ifdef __cplusplus
} // extern "C"
#endif
 
struct XsEuler
{
#ifdef __cplusplus
        inline XsEuler() : m_x(XsMath_zero), m_y(XsMath_zero), m_z(XsMath_zero) {}
        inline XsEuler(XsReal x_, XsReal y_, XsReal z_) : m_x(x_), m_y(y_), m_z(z_) {}
        inline XsEuler(const XsEuler& other) : m_x(other.m_x), m_y(other.m_y), m_z(other.m_z) {}
        inline explicit XsEuler(const XsVector& other) : m_x(other[0]), m_y(other[1]), m_z(other[2]) {}
 
        inline explicit XsEuler(const XsQuaternion& q)
        {
                XsEuler_fromQuaternion(this, &q);
        }
 
        inline XsEuler& operator=(const XsEuler& other)
        {
                m_x = other.m_x;
                m_y = other.m_y;
                m_z = other.m_z;
                return *this;
        }
 
        inline XsReal operator[](XsSize index) const
        {
                assert(index <= 2);
                return m_data[index];
        }
 
        inline XsReal& operator[](XsSize index)
        {
                assert(index <= 2);
                return m_data[index];
        }
 
        inline bool empty() const
        {
                return m_x == XsMath_zero && m_y == XsMath_zero && m_z == XsMath_zero;
        }
 
        inline const XsReal* data() const
        {
                return m_data;
        }
 
        inline XsEuler& fromQuaternion(const XsQuaternion& quat)
        {
                XsEuler_fromQuaternion(this, &quat);
                return *this;
        }
 
        inline bool operator == (const XsEuler& other) const
        {
                return m_roll == other.m_roll && m_pitch == other.m_pitch && m_yaw == other.m_yaw;
        }
 
        inline bool operator != (const XsEuler& other) const
        {
                return m_roll != other.m_roll || m_pitch != other.m_pitch || m_yaw != other.m_yaw;
        }
 
        inline XsReal roll() const
        {
                return m_roll;
        }
        inline XsReal pitch() const
        {
                return m_pitch;
        }
        inline XsReal yaw() const
        {
                return m_yaw;
        }
 
        inline XsReal x() const
        {
                return m_x;
        }
        inline XsReal y() const
        {
                return m_y;
        }
        inline XsReal z() const
        {
                return m_z;
        }
 
        inline bool isEqual(const XsEuler& other, XsReal tolerance) const
        {
                return  fabs(m_x - other.m_x) <= tolerance &&
                        fabs(m_y - other.m_y) <= tolerance &&
                        fabs(m_z - other.m_z) <= tolerance;
        }
 
private:
#endif
 
        union
        {
                struct
                {
                        XsReal m_x;             
                        XsReal m_y;             
                        XsReal m_z;             
                };
                struct
                {
                        XsReal m_roll;          
                        XsReal m_pitch;         
                        XsReal m_yaw;           
                };
                XsReal m_data[3];       
        };
};
 
typedef struct XsEuler XsEuler;
 
#endif