hkl/hkl-quaternion.h

   1 /* This file is part of the hkl library.
   2  *
   3  * The hkl library is free software: you can redistribute it and/or modify
   4  * it under the terms of the GNU General Public License as published by
   5  * the Free Software Foundation, either version 3 of the License, or
   6  * (at your option) any later version.
   7  *
   8  * The hkl library is distributed in the hope that it will be useful,
   9  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  11  * GNU General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License
  14  * along with the hkl library.  If not, see <http://www.gnu.org/licenses/>.
  15  *
  16  * Copyright (C) 2003-2010 Synchrotron SOLEIL
  17  *                         L'Orme des Merisiers Saint-Aubin
  18  *                         BP 48 91192 GIF-sur-YVETTE CEDEX
  19  *
  20  * Authors: Picca Frédéric-Emmanuel <picca@synchrotron-soleil.fr>
  21  */
  22 #ifndef __HKL_QUATERNION_H__
  23 #define __HKL_QUATERNION_H__
  24
  25 #include <stdio.h>
  26 #include <math.h>
  27 #include <hkl/hkl-macros.h>
  28 #include <hkl/hkl-vector.h>
  29 #include <hkl/hkl-matrix.h>
  30
  31 HKL_BEGIN_DECLS
  32
  33 struct _HklQuaternion
  34 {
  35         double data[4];
  36 };
  37
  38 extern HklQuaternion *hkl_quaternion_dup(const HklQuaternion* self);
  39
  40 extern void hkl_quaternion_free(HklQuaternion *self);
  41
  42 extern void hkl_quaternion_init(HklQuaternion *self,
  43                                 double a, double b, double c, double d);
  44
  45 extern void hkl_quaternion_init_from_vector(HklQuaternion *self, const HklVector *v);
  46
  47 extern void hkl_quaternion_init_from_angle_and_axe(HklQuaternion *self,
  48                                                    double angle, const HklVector *v);
  49
  50 extern void hkl_quaternion_fprintf(FILE *file, const HklQuaternion *self);
  51
  52 extern int hkl_quaternion_cmp(const HklQuaternion *self, const HklQuaternion *q);
  53
  54 extern void hkl_quaternion_minus_quaternion(HklQuaternion *self,
  55                                             const HklQuaternion *q);
  56
  57 extern void hkl_quaternion_times_quaternion(HklQuaternion *self,
  58                                             const HklQuaternion *q);
  59
  60 extern double hkl_quaternion_norm2(const HklQuaternion *self);
  61
  62 extern void hkl_quaternion_conjugate(HklQuaternion *self);
  63
  64 extern void hkl_quaternion_to_matrix(const HklQuaternion *self, HklMatrix *m);
  65
  66 extern void hkl_quaternion_to_angle_and_axe(const HklQuaternion *self,
  67                                             double *angle, HklVector *v);
  68
  69 HKL_END_DECLS
  70
  71 #endif