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// Copyright (c) 2017-2023 California Institute of Technology ("Caltech"). U.S.
// Government sponsorship acknowledged. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
// Old g++ doesn't work for some of this. Let's say I have this:
//
// typedef union
// {
// struct
// {
// double x,y;
// };
// double xy[2];
// } mrcal_point2_t;
// mrcal_point2_t mrcal_point2_sub(const mrcal_point2_t a, const mrcal_point2_t b)
// {
// return (mrcal_point2_t){ .x = a.x - b.x,
// .y = a.y - b.y };
// }
//
// This happens on g++ <= 10:
//
// dima@fatty:/tmp$ g++-10 -c -o tst.o tst.c
// tst.c: In function ‘mrcal_point2_t mrcal_point2_sub(mrcal_point2_t, mrcal_point2_t)’:
// tst.c:14:45: error: too many initializers for ‘mrcal_point2_t’
// 14 | .y = a.y - b.y };
// | ^
//
// Since this happens only with c++ and with old compilers, I don't give the
// unhappy code to the old compiler. People stuck in that world will need to
// make do without these functions. g++ < 11 is affected clang++ >= 6 seems ok,
// so I just accept all clang
#if defined __cplusplus && (__GNUC__ < 11 && !(defined __clang__ && __clang__))
#define MRCAL_NO_CPP_ANONYMOUS_NAMED_INITIALIZERS 1
#endif
// A 2D point or vector
//
// The individual elements can be accessed via .x and .y OR the vector can be
// accessed as an .xy[] array:
//
// mrcal_point2_t p = f();
//
// Now p.x and p.xy[0] refer to the same value.
typedef union
{
struct
{
double x,y;
};
double xy[2];
} mrcal_point2_t;
// A 3D point or vector
//
// The individual elements can be accessed via .x and .y and .z OR the vector
// can be accessed as an .xyz[] array:
//
// mrcal_point3_t p = f();
//
// Now p.x and p.xy[0] refer to the same value.
typedef union
{
struct
{
double x,y,z;
};
double xyz[3];
} mrcal_point3_t;
// Unconstrained 6DOF pose containing a Rodrigues rotation and a translation
typedef struct
{
mrcal_point3_t r,t;
} mrcal_pose_t;
#ifndef MRCAL_NO_CPP_ANONYMOUS_NAMED_INITIALIZERS
//////////// Easy convenience stuff
////// point2
__attribute__((unused))
static double mrcal_point2_inner(const mrcal_point2_t a, const mrcal_point2_t b)
{
return
a.x*b.x +
a.y*b.y;
}
__attribute__((unused))
static double mrcal_point2_norm2(const mrcal_point2_t a)
{
return mrcal_point2_inner(a,a);
}
#define mrcal_point2_mag(a) sqrt(norm2(a)) // macro to not require #include <math.h>
__attribute__((unused))
static mrcal_point2_t mrcal_point2_add(const mrcal_point2_t a, const mrcal_point2_t b)
{
return (mrcal_point2_t){ .x = a.x + b.x,
.y = a.y + b.y };
}
__attribute__((unused))
static mrcal_point2_t mrcal_point2_sub(const mrcal_point2_t a, const mrcal_point2_t b)
{
return (mrcal_point2_t){ .x = a.x - b.x,
.y = a.y - b.y };
}
__attribute__((unused))
static mrcal_point2_t mrcal_point2_scale(const mrcal_point2_t a, const double s)
{
return (mrcal_point2_t){ .x = a.x * s,
.y = a.y * s };
}
////// point3
__attribute__((unused))
static double mrcal_point3_inner(const mrcal_point3_t a, const mrcal_point3_t b)
{
return
a.x*b.x +
a.y*b.y +
a.z*b.z;
}
__attribute__((unused))
static double mrcal_point3_norm2(const mrcal_point3_t a)
{
return mrcal_point3_inner(a,a);
}
#define mrcal_point3_mag(a) sqrt(mrcal_point3_norm2(a)) // macro to not require #include <math.h>
__attribute__((unused))
static mrcal_point3_t mrcal_point3_add(const mrcal_point3_t a, const mrcal_point3_t b)
{
return (mrcal_point3_t){ .x = a.x + b.x,
.y = a.y + b.y,
.z = a.z + b.z };
}
__attribute__((unused))
static mrcal_point3_t mrcal_point3_sub(const mrcal_point3_t a, const mrcal_point3_t b)
{
return (mrcal_point3_t){ .x = a.x - b.x,
.y = a.y - b.y,
.z = a.z - b.z };
}
__attribute__((unused))
static mrcal_point3_t mrcal_point3_scale(const mrcal_point3_t a, const double s)
{
return (mrcal_point3_t){ .x = a.x * s,
.y = a.y * s,
.z = a.z * s };
}
__attribute__((unused))
static mrcal_point3_t mrcal_point3_cross(const mrcal_point3_t a, const mrcal_point3_t b)
{
return (mrcal_point3_t){ .x = a.y*b.z - a.z*b.y,
.y = a.z*b.x - a.x*b.z,
.z = a.x*b.y - a.y*b.x };
}
#endif // MRCAL_NO_CPP_ANONYMOUS_NAMED_INITIALIZERS
#define mrcal_point2_print(p) do { printf( #p " = (%f %f)\n", (p).x, (p).y); } while(0)
#define mrcal_point3_print(p) do { printf( #p " = (%f %f %f)\n", (p).x, (p).y, (p).z); } while(0)
#define mrcal_Rt_print(Rt) do { printf( #Rt " = (\n %f %f %f\n %f %f %f\n %f %f %f\n ============\n %f %f %f\n)\n", \
(Rt)[0],(Rt)[1],(Rt)[2],(Rt)[3],(Rt)[4],(Rt)[5],(Rt)[6],(Rt)[7],(Rt)[8],(Rt)[9],(Rt)[10],(Rt)[11]); } while(0)
#define mrcal_rt_print(rt) do { printf( #rt " = (%f %f %f; %f %f %f\n", \
(rt)[0],(rt)[1],(rt)[2],(rt)[3],(rt)[4],(rt)[5]); } while(0)
#ifdef __cplusplus
}
#endif
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