1 /* 2 * Copyright (C) 2016 The Android Open Source Project 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 #ifndef LOCATION_LBS_CONTEXTHUB_NANOAPPS_COMMON_MATH_QUAT_H_ 17 #define LOCATION_LBS_CONTEXTHUB_NANOAPPS_COMMON_MATH_QUAT_H_ 18 19 #include "common/math/mat.h" 20 #include "common/math/vec.h" 21 22 #ifdef __cplusplus 23 extern "C" { 24 #endif 25 26 typedef struct Vec4 Quat; 27 28 void initQuat(Quat *q, const struct Mat33 *R); 29 void quatToMatrix(struct Mat33 *R, const Quat *q); 30 void quatNormalize(Quat *q); 31 32 #ifdef __cplusplus 33 } 34 #endif 35 36 #endif // LOCATION_LBS_CONTEXTHUB_NANOAPPS_COMMON_MATH_QUAT_H_ 37