aruco_pose: aruco_pose: rpp_vecmat.h Source File

00001 /* ========================================================================
00002  * PROJECT: ARToolKitPlus
00003  * ========================================================================
00004  * This work is based on the original ARToolKit developed by
00005  *   Hirokazu Kato
00006  *   Mark Billinghurst
00007  *   HITLab, University of Washington, Seattle
00008  * http://www.hitl.washington.edu/artoolkit/
00009  *
00010  * Copyright of the derived and new portions of this work
00011  *     (C) 2006 Graz University of Technology
00012  *
00013  * This framework is free software; you can redistribute it and/or modify
00014  * it under the terms of the GNU General Public License as published by
00015  * the Free Software Foundation; either version 2 of the License, or
00016  * (at your option) any later version.
00017  *
00018  * This framework is distributed in the hope that it will be useful,
00019  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00020  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00021  * GNU General Public License for more details.
00022  *
00023  * You should have received a copy of the GNU General Public License
00024  * along with this framework; if not, write to the Free Software
00025  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00026  *
00027  * For further information please contact 
00028  *   Dieter Schmalstieg
00029  *   <schmalstieg@icg.tu-graz.ac.at>
00030  *   Graz University of Technology, 
00031  *   Institut for Computer Graphics and Vision,
00032  *   Inffeldgasse 16a, 8010 Graz, Austria.
00033  * ========================================================================
00034  ** @author   Thomas Pintaric
00035  *
00036  * $Id: rpp_vecmat.h 162 2006-04-19 21:28:10Z grabner $
00037  * @file
00038  * ======================================================================== */
00039 
00040 
00041 #ifndef __RPP_VECMAT_H__
00042 #define __RPP_VECMAT_H__
00043 
00044 #include "rpp_const.h"
00045 #include "rpp_types.h"
00046 
00047 namespace rpp {
00048 
00049 real_t _sin(real_t a);
00050 real_t _cos(real_t a);
00051 real_t _atan2(real_t a, real_t b);
00052 real_t _abs(real_t a);
00053 real_t _acos(real_t a);
00054 real_t _sqrt(real_t a);
00055 real_t _pow(real_t a);
00056 
00057 void mat33_from_double_pptr(mat33_t &mat, double** m_ptr);
00058 double ** mat33_to_double_pptr(const mat33_t &mat);
00059 void free_double_pptr(double*** m_ptr);
00060 void vec3_from_double_ptr(vec3_t &vec, double* v_ptr);
00061 double* vec3_to_double_ptr(const vec3_t &vec);
00062 void free_double_ptr(double** v_ptr);
00063 void mat33_assign(mat33_t &m,
00064                                   const real_t m00, const real_t m01, const real_t m02,
00065                                   const real_t m10, const real_t m11, const real_t m12,
00066                                   const real_t m20, const real_t m21, const real_t m22);
00067 void _dbg_quat_print(const quat_t &q, char* name);
00068 void _dbg_mat33_print(const mat33_t &m, char* name);
00069 void _dbg_mat33_array_print(const mat33_array &m, char* name);
00070 void _dbg_vec3_print(const vec3_t &v, char* name);
00071 void _dbg_vec3_array_print(const vec3_array &v, char* name);
00072 bool _dbg_load_vec3_array(vec3_array &va, char* filename);
00073 void vec3_assign(vec3_t &v, const real_t x, const real_t y, const real_t z);
00074 void vec3_clear(vec3_t &v);
00075 void vec3_copy(vec3_t &a, const vec3_t &b);
00076 void vec3_array_sum(vec3_t &v_sum2, const vec3_array &va);
00077 void vec3_array_sum(scalar_array &v_sum1, const vec3_array &va);
00078 void vec3_array_pow2(vec3_array &va);
00079 void vec3_div(vec3_t &va, const real_t n);
00080 void vec3_div(vec3_t &va, const vec3_t &vb);
00081 void vec3_mult(vec3_t &va, const real_t n);
00082 void vec3_mult(vec3_t &va, const vec3_t &vb);
00083 void vec3_add(vec3_t &va, const real_t f);
00084 void vec3_add(vec3_t &va, const vec3_t &vb);
00085 void vec3_add(vec3_t &va, const vec3_t &vb, const vec3_t &vc);
00086 void vec3_sub(vec3_t &va, const real_t f);
00087 void vec3_sub(vec3_t &va, const vec3_t &vb);
00088 void vec3_sub(vec3_t &va, const vec3_t &vb, const vec3_t &vc);
00089 real_t vec3_dot(const vec3_t &va, const vec3_t &vb);
00090 void vec3_cross(vec3_t &va, const vec3_t &vb, const vec3_t &vc);
00091 real_t vec3_norm(const vec3_t &v);
00092 real_t vec3_sum(const vec3_t &v);
00093 void vec3_array_add(vec3_array &va, const vec3_t &a);
00094 void vec3_array_sub(vec3_array &va, const vec3_t &a);
00095 void vec3_array_set(vec3_array &va, const vec3_t &a, const bool mask[3]);
00096 void vec3_array_mult(vec3_array &va, const scalar_array &c);
00097 void vec3_array_mean(vec3_t &v_mean, const vec3_array &va);
00098 void vec3_mul_vec3trans(mat33_t &m, const vec3_t &va, const vec3_t &vb);
00099 real_t vec3trans_mul_vec3(const vec3_t &va, const vec3_t &vb);
00100 void mat33_clear(mat33_t &m);
00101 void mat33_copy(mat33_t &md, const mat33_t &ms);
00102 void mat33_to_col_vec3(vec3_t &c0, vec3_t &c1, vec3_t &c2, const mat33_t &m);
00103 void mat33_div(mat33_t &m, const real_t f);
00104 void mat33_eye(mat33_t &m);
00105 real_t mat33_sum(const mat33_t &m);
00106 bool mat33_all_zeros(const mat33_t &m);
00107 void mat33_set_all_zeros(mat33_t &m);
00108 void mat33_array_sum(mat33_t &s, const mat33_array &ma);
00109 void mat33_sub(mat33_t &mr, const mat33_t &ma, const mat33_t &mb);
00110 void mat33_sub(mat33_t &ma, const mat33_t &mb);
00111 void mat33_add(mat33_t &mr, const mat33_t &ma, const mat33_t &mb);
00112 void mat33_add(mat33_t &ma, const mat33_t &mb);
00113 real_t mat33_det(const mat33_t &a);
00114 void mat33_inv(mat33_t &mi, const mat33_t &ma);
00115 void mat33_mult(mat33_t &m0, const mat33_t &m1, const mat33_t &m2);
00116 void mat33_mult(mat33_t &mr, const real_t n);
00117 void mat33_transpose(mat33_t &t, const mat33_t m);
00118 void vec3_mult(vec3_t &v0, const mat33_t &m1, const vec3_t &v2);
00119 void vec3_array_mult(vec3_array &va, const mat33_t &m, const vec3_array &vb);
00120 void mat33_svd2(mat33_t &u, mat33_t &s, mat33_t &v, const mat33_t &m);
00121 void quat_mult(quat_t &q, const real_t s);
00122 real_t quat_norm(const quat_t &q);
00123 void mat33_from_quat(mat33_t &m, const quat_t &q);
00124 void normRv(vec3_t &n, const vec3_t &v);
00125 void normRv(vec3_array &normR_v, const vec3_array &v);
00126 
00127 int solve_polynomial(scalar_array &sol, const scalar_array &coefficients);
00128 void scalar_array_pow(scalar_array &sa, const real_t f);
00129 void scalar_array_negate(scalar_array &sa);
00130 void scalar_array_assign(scalar_array &sa,
00131                                                  const  real_t f,
00132                                                  const unsigned int sz);
00133 void scalar_array_add(scalar_array &sa, const scalar_array &sb);
00134 void scalar_array_clear(scalar_array &sa);
00135 void scalar_array_atan2(scalar_array &sa, 
00136                                                 const scalar_array &sb,
00137                                                 const scalar_array &sc);
00138 
00139 void _dbg_scalar_array_print(const scalar_array &sa, char* name);
00140 void scalar_array_div(scalar_array &sa, real_t f);
00141 void scalar_array_div(scalar_array &sa, const scalar_array &sb);
00142 void scalar_array_mult(scalar_array &sa, real_t f);
00143 void scalar_array_add(scalar_array &sa, real_t f);
00144 void scalar_array_sub(scalar_array &sa, real_t f);
00145 void mat33_pow2(mat33_t &m);
00146 
00147 void _dbg_vec3_fprint(void* fp, const vec3_t &v, char* name);
00148 void _dbg_mat33_fprint(void* fp, const mat33_t &m, char* name);
00149 
00150 } // namespace rpp
00151 
00152 #endif