Pose3C.h (1635B)
1 /** @file 2 @brief Header 3 4 Must be c-safe! 5 6 @date 2014 7 8 @author 9 Sensics, Inc. 10 <http://sensics.com/osvr> 11 */ 12 13 /* 14 // Copyright 2014 Sensics, Inc. 15 // 16 // Licensed under the Apache License, Version 2.0 (the "License"); 17 // you may not use this file except in compliance with the License. 18 // You may obtain a copy of the License at 19 // 20 // http://www.apache.org/licenses/LICENSE-2.0 21 // 22 // Unless required by applicable law or agreed to in writing, software 23 // distributed under the License is distributed on an "AS IS" BASIS, 24 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 25 // See the License for the specific language governing permissions and 26 // limitations under the License. 27 */ 28 29 #ifndef INCLUDED_Pose3C_h_GUID_066CFCE2_229C_4194_5D2B_2602CCD5C439 30 #define INCLUDED_Pose3C_h_GUID_066CFCE2_229C_4194_5D2B_2602CCD5C439 31 32 /* Internal Includes */ 33 34 /* Internal Includes */ 35 #include <osvr/Util/APIBaseC.h> 36 #include <osvr/Util/Vec3C.h> 37 #include <osvr/Util/QuaternionC.h> 38 39 /* Library/third-party includes */ 40 /* none */ 41 42 /* Standard includes */ 43 /* none */ 44 45 OSVR_EXTERN_C_BEGIN 46 47 /** @addtogroup UtilMath 48 @{ 49 */ 50 51 /** @brief A structure defining a 3D (6DOF) rigid body pose: translation and 52 rotation. 53 */ 54 typedef struct OSVR_Pose3 { 55 /** @brief Position vector */ 56 OSVR_Vec3 translation; 57 /** @brief Orientation as a unit quaternion */ 58 OSVR_Quaternion rotation; 59 } OSVR_Pose3; 60 61 /** @brief Set a pose to identity */ 62 OSVR_INLINE void osvrPose3SetIdentity(OSVR_Pose3* pose) { 63 osvrQuatSetIdentity(&(pose->rotation)); 64 osvrVec3Zero(&(pose->translation)); 65 } 66 /** @} */ 67 68 OSVR_EXTERN_C_END 69 70 #endif