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/*=========================================================================
Program: The OpenIGTLink Library
Language: C++
Web page: http://openigtlink.org/
Copyright (c) Insight Software Consortium. All rights reserved.
This software is distributed WITHOUT ANY WARRANTY; without even
the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. See the above copyright notices for more information.
=========================================================================*/
#ifndef __igtlMath_h
#define __igtlMath_h
#include "igtlWin32Header.h"
namespace igtl
{
typedef float Matrix4x4[4][4];
/// Prints out a 4-by-4 matrix on the standard output.
void IGTLCommon_EXPORT PrintMatrix(igtl::Matrix4x4 &matrix);
/// Prints out a 3-element vector on the standard output.
void IGTLCommon_EXPORT PrintVector3(float v[3]);
/// Prints out a 3-element vector on the standard output.
void IGTLCommon_EXPORT PrintVector3(float x, float y, float z);
/// Prints out a 4-element vector on the standard output.
void IGTLCommon_EXPORT PrintVector4(float v[4]);
/// Prints out a 4-element vector on the standard output.
void IGTLCommon_EXPORT PrintVector4(float x, float y, float z, float w);
/// Converts a quaternion to a 3-by-3 rotation matrix. Only the 3-by-3 rotation matrix part
/// in the 4-by-4 matrix is used.
void IGTLCommon_EXPORT QuaternionToMatrix(float* q, Matrix4x4& m);
/// Converts a 3-by-3 rotation matrix a quaternion. Only the 3-by-3 rotation matrix part
/// in the 4-by-4 matrix is used.
void IGTLCommon_EXPORT MatrixToQuaternion(Matrix4x4& m, float* q);
/// Calculates the cross products of 3-element vectors 'b' and 'c'. The result is substituted into
/// a 3-element vector a.
void IGTLCommon_EXPORT Cross(float *a, float *b, float *c);
/// Initialize a 4-by-4 matrix as an identity matrix.
void IGTLCommon_EXPORT IdentityMatrix(igtl::Matrix4x4 &matrix);
}
#endif // __igtlMath_h
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