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hexapod_ng/legacy/linux/liblicks/include/linalg.h

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  1. #ifndef LICKS_LINALG_H

  2. #define LICKS_LINALG_H

  3. 

  4. typedef struct {

  5.    double x,y,z;

  6. } vector3d;

  7. 

  8. typedef struct {

  9.    double x[3],y[3],z[3];

  10. } matrix3x3d;

  11. 

  12. extern void copy_vector3d(vector3d *v1, vector3d *v2);

  13. extern void add_vector3d(vector3d *v1, vector3d *v2, vector3d *result);

  14. extern void sub_vector3d(vector3d *v1, vector3d *v2, vector3d *result);

  15. extern void scalar_mult_vector3d(vector3d *v1, double s, vector3d *result);

  16. extern void cross_mult_vector3d(vector3d *v1, vector3d *v2, vector3d *result);

  17. extern void matrix_mult_vector3d(vector3d *v1, matrix3x3d *M, vector3d *result);

  18. extern void rot_x_vector3d(vector3d *v, double a, vector3d *result);

  19. extern void rot_y_vector3d(vector3d *v, double a, vector3d *result);

  20. extern void rot_z_vector3d(vector3d *v, double a, vector3d *result);

  21. 

  22. #endif