pdsquaternion.h

/*
 * pdsquaternion.h
 * 
 * Copyright 2011 Fernando Pujaico Rivera <fernando.pujaico.rivera@gmail.com>
 * 
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 * 
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
 * MA 02110-1301, USA.
 * 
 */

#ifndef __PDSQUATERNION_H__
#define __PDSQUATERNION_H__


#include <pds/pdscnglobal.h>

#ifdef __cplusplus
extern "C" {
#endif 

typedef struct 
{
        PdsCnReal W;
        PdsCnReal X;
        PdsCnReal Y;
        PdsCnReal Z;
}PdsQuaternion;



#define PDS_QRECT(A,B,C,D) pds_quaternion_rect(A,B,C,D)

PdsQuaternion pds_quaternion_rect(PdsCnReal w,PdsCnReal x,PdsCnReal y,PdsCnReal z);



#define PDS_QPOLAR(A,B,C,D) pds_quaternion_polar(A,B,C,D)

PdsQuaternion pds_quaternion_polar(PdsCnReal a,PdsCnReal b,PdsCnReal c,PdsCnReal d);



#define PDS_QADDQ(A,B) pds_quaternion_add_quaternion(A,B)

PdsQuaternion pds_quaternion_add_quaternion(PdsQuaternion a,PdsQuaternion b);



#define PDS_QADDR(A,B) pds_quaternion_add_real(A,B)

PdsQuaternion pds_quaternion_add_real(PdsQuaternion a,PdsCnReal b);



#define PDS_QSUBQ(A,B) pds_quaternion_sub_quaternion(A,B)

PdsQuaternion pds_quaternion_sub_quaternion(PdsQuaternion a,PdsQuaternion b);



#define PDS_QSUBR(A,B) pds_quaternion_sub_real(A,B)

PdsQuaternion pds_quaternion_sub_real(PdsQuaternion a,PdsCnReal b);


#define PDS_QMULQ(A,B) pds_quaternion_mul_quaternion(A,B)

PdsQuaternion pds_quaternion_mul_quaternion(PdsQuaternion a,PdsQuaternion b);



#define PDS_QMULR(A,B) pds_quaternion_mul_real(A,B)

PdsQuaternion pds_quaternion_mul_real(PdsQuaternion a,PdsCnReal b);


#define PDS_QDIVQ(A,B) pds_quaternion_div_quaternion(A,B)

PdsQuaternion pds_quaternion_div_quaternion(PdsQuaternion a,PdsQuaternion b);



#define PDS_QDIVR(A,B) pds_quaternion_div_real(A,B)

PdsQuaternion pds_quaternion_div_real(PdsQuaternion a,PdsCnReal b);


#define PDS_QINV(A) pds_quaternion_inv(A)

PdsQuaternion pds_quaternion_inv(PdsQuaternion a);


#define PDS_QUNIT(A) pds_quaternion_unit(A)

PdsQuaternion pds_quaternion_unit(PdsQuaternion a);


#define PDS_QCONJ(A) pds_quaternion_conj(A)

PdsQuaternion pds_quaternion_conj(PdsQuaternion a);


#define PDS_QEXP(B) pds_quaternion_exp(B)

PdsQuaternion pds_quaternion_exp(PdsQuaternion q);

#define PDS_QLOG(B) pds_quaternion_log(B)

PdsQuaternion pds_quaternion_log(PdsQuaternion q);

#define PDS_QPOW(B,a) pds_quaternion_pow(B,a)

PdsQuaternion pds_quaternion_pow(PdsQuaternion q,PdsCnReal a);


#define PDS_QNORM(A) pds_quaternion_norm(A)

PdsCnReal pds_quaternion_norm(PdsQuaternion a);



#define PDS_QNORM2(A) pds_quaternion_norm2(A)

PdsCnReal pds_quaternion_norm2(PdsQuaternion a);

#define PDS_QGYRO(Wx,Wy,Wz,dt) pds_quaternion_gyro(Wx,Wy,Wz,dt)

PdsQuaternion pds_quaternion_gyro(PdsCnReal Wx,PdsCnReal Wy,PdsCnReal Wz,PdsCnReal dt);


#ifdef __cplusplus
}
#endif 


#endif /* __PDSQUATERNION_H__ */