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pf_vector.h Go to the documentation of this file. /************************************************************************** * Desc: Vector functions * Author: Andrew Howard * Date: 10 Dec 2002 * CVS: $Id: pf_vector.h,v 1.3 2003/02/10 01:37:19 inspectorg Exp $ *************************************************************************/ #ifndef PF_VECTOR_H #define PF_VECTOR_H #ifdef __cplusplus extern "C" { #endif #include <stdio.h> // The basic vector typedef struct { double v[3]; } pf_vector_t; // The basic matrix typedef struct { double m[3][3]; } pf_matrix_t; // Return a zero vector pf_vector_t pf_vector_zero(); // Check for NAN or INF in any component int pf_vector_finite(pf_vector_t a); // Print a vector void pf_vector_fprintf(pf_vector_t s, FILE *file, const char *fmt); // Simple vector addition pf_vector_t pf_vector_add(pf_vector_t a, pf_vector_t b); // Simple vector subtraction pf_vector_t pf_vector_sub(pf_vector_t a, pf_vector_t b); // Transform from local to global coords (a + b) pf_vector_t pf_vector_coord_add(pf_vector_t a, pf_vector_t b); // Transform from global to local coords (a - b) pf_vector_t pf_vector_coord_sub(pf_vector_t a, pf_vector_t b); // Return a zero matrix pf_matrix_t pf_matrix_zero(); // Check for NAN or INF in any component int pf_matrix_finite(pf_matrix_t a); // Print a matrix void pf_matrix_fprintf(pf_matrix_t s, FILE *file, const char *fmt); // Compute the matrix inverse. Will also return the determinant, // which should be checked for underflow (indicated singular matrix). pf_matrix_t pf_matrix_inverse(pf_matrix_t a, double *det); // Decompose a covariance matrix [a] into a rotation matrix [r] and a // diagonal matrix [d] such that a = r * d * r^T. void pf_matrix_unitary(pf_matrix_t *r, pf_matrix_t *d, pf_matrix_t a); #ifdef __cplusplus } #endif #endif