xssdidata.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 XSSDIDATA_H
#define XSSDIDATA_H
 
#include "xstypesconfig.h"
#include "xsvector3.h"
#include "xsquaternion.h"
 
struct XsSdiData;
 
#ifdef __cplusplus
extern "C" {
#endif
#ifndef __cplusplus
#define XSSDIDATA_INITIALIZER {XSQUATERNION_INITIALIZER, XSVECTOR3_INITIALIZER}
#endif
 
XSTYPES_DLL_API void XsSdiData_construct(struct XsSdiData* thisPtr, const XsReal* orientationIncrement, const XsReal* velocityIncrement);
XSTYPES_DLL_API void XsSdiData_destruct(struct XsSdiData* thisPtr);
 
#ifdef __cplusplus
} // extern "C"
#endif
 
struct XsSdiData
{
#ifdef __cplusplus
        inline XsSdiData()
        {
        }
 
        inline XsSdiData(const XsQuaternion& dq, const XsVector& dv)
                : m_orientationIncrement(dq)
                , m_velocityIncrement(dv)
        {
        }
 
        inline XsSdiData(const XsSdiData& other)
                : m_orientationIncrement(other.m_orientationIncrement)
                , m_velocityIncrement(other.m_velocityIncrement)
        {
        }
 
        inline const XsSdiData& operator=(const XsSdiData& other)
        {
                if (this != &other)
                {
                        m_orientationIncrement = other.m_orientationIncrement;
                        m_velocityIncrement = other.m_velocityIncrement;
                }
                return *this;
        }
 
        inline void zero()
        {
                m_orientationIncrement = XsQuaternion::identity();
                m_velocityIncrement.zero();
        }
 
        inline const XsQuaternion& orientationIncrement() const
        {
                return m_orientationIncrement;
        }
 
        inline void setOrientationIncrement(const XsQuaternion& dq)
        {
                m_orientationIncrement = dq;
        }
 
        inline const XsVector3& velocityIncrement() const
        {
                return m_velocityIncrement;
        }
 
        inline void setVelocityIncrement(const XsVector& dv)
        {
                m_velocityIncrement = dv;
        }
 
        inline bool operator == (const XsSdiData& other) const
        {
                return  m_orientationIncrement == other.m_orientationIncrement &&
                        m_velocityIncrement == other.m_velocityIncrement;
        }
 
private:
#endif
 
        XsQuaternion m_orientationIncrement;    
        XsVector3    m_velocityIncrement;               
};
 
typedef struct XsSdiData XsSdiData;
 
#endif