type.h

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/* -*- mode: C; c-basic-offset: 4 -*- */
/* ex: set shiftwidth=4 tabstop=4 expandtab: */
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#ifndef AMINO_TF_TYPE_H
#define AMINO_TF_TYPE_H
 
/*--------------*/
/* Planar Types */
/*--------------*/
 
typedef double _Complex aa_tf_cmplx;
 
typedef aa_tf_cmplx aa_tf_vec2;
 
 
typedef struct aa_tf_rotmatp {
    union {
        struct {
            aa_tf_vec2 col0; 
            aa_tf_vec2 col1; 
        };
        double data[4]; 
    };
} aa_tf_rotmatp;
 
typedef struct aa_tf_cv {
    union {
        double data[4]; 
        struct {
            aa_tf_cmplx c;  
            aa_tf_vec2 v;   
        };
    };
} aa_tf_cv;
 
typedef struct aa_tf_tfmatp {
    union {
        struct {
            aa_tf_rotmatp R;  
            aa_tf_vec2 v;     
        };
        double data[6]; 
    };
} aa_tf_tfmatp;
 
/*---------------*/
/* Spatial Types */
/*---------------*/
 
#define AA_TF_X 0
#define AA_TF_Y 1
#define AA_TF_Z 2
 
typedef struct aa_tf_vec3 {
    union {
        struct {
            double x;   
            double y;   
            double z;   
        };
        double data[3]; 
    };
} aa_tf_vec3_t;
 
typedef struct aa_tf_rotmat {
    union {
        struct {
            struct aa_tf_vec3 col0;  
            struct aa_tf_vec3 col1;  
            struct aa_tf_vec3 col2;  
        };
        double data[9]; 
    };
} aa_tf_rotmat_t;
 
typedef struct aa_tf_axang {
    union {
        struct {
            union {
                struct aa_tf_vec3 axis;
                double v[3];
            };
            double angle;
        };
        double data[4];
    };
} aa_tf_axang_t;
 
#define AA_TF_QUAT_V 0
#define AA_TF_QUAT_XYZ AA_TF_QUAT_V
#define AA_TF_QUAT_X (AA_TF_QUAT_V + AA_TF_X)
#define AA_TF_QUAT_Y (AA_TF_QUAT_V + AA_TF_Y)
#define AA_TF_QUAT_Z (AA_TF_QUAT_V + AA_TF_Z)
#define AA_TF_QUAT_W 3
 
typedef struct aa_tf_quat {
    union {
        struct {
            double x; 
            double y; 
            double z; 
            double w; 
        };
        struct {
            union {
                struct aa_tf_vec3 vec; 
                double v[3];           
            };
            double scalar; 
        };
        double data[4]; 
    };
} aa_tf_quat_t;
 
typedef struct aa_tf_eulerzyx {
    union {
        struct {
            double y; 
            double p; 
            double r; 
        };
        double data[3]; 
    };
} aa_tf_eulerzyx_t;
 
 
typedef struct aa_tf_tfmat {
    union {
        struct {
            double R[9];      
            aa_tf_vec3_t v;   
        };
        double data[12]; 
    };
} aa_tf_tfmat_t;
 
#define AA_TF_TFMAT_R 0
 
#define AA_TF_TFMAT_V 9
 
#define AA_TF_TFMAT_X 9
 
#define AA_TF_TFMAT_Y 10
 
#define AA_TF_TFMAT_Z 11
 
typedef struct aa_tf_qv {
    union {
        struct {
            aa_tf_quat_t r;  
            aa_tf_vec3_t v;  
        };
        double data[7]; 
    };
} aa_tf_qv_t;
 
typedef struct aa_tf_duqu {
    union {
        struct {
            aa_tf_quat_t real;  
            aa_tf_quat_t dual;  
        };
        double data[8]; 
    };
} aa_tf_duqu_t;
 
struct aa_tf_dx {
    union {
        struct {
            double dv[3];      
            double omega[3];   
        };
        double data[6]; 
    };
};
 
#define AA_TF_DX_V 0
#define AA_TF_DX_W 3
 
struct aa_tf_qv_dx {
    union {
        struct {
            struct aa_tf_qv tf; 
            struct aa_tf_dx dx; 
        };
        double data[13];
    };
};
 
#define AA_TF_QUTR_Q  0
#define AA_TF_QUTR_QX (AA_TF_QUTR_Q + AA_TF_QUAT_X)
#define AA_TF_QUTR_QY (AA_TF_QUTR_Q + AA_TF_QUAT_Y)
#define AA_TF_QUTR_QZ (AA_TF_QUTR_Q + AA_TF_QUAT_Z)
#define AA_TF_QUTR_QW (AA_TF_QUTR_Q + AA_TF_QUAT_W)
 
#define AA_TF_QUTR_T  4
#define AA_TF_QUTR_TX (AA_TF_QUTR_T + AA_TF_X)
#define AA_TF_QUTR_TY (AA_TF_QUTR_T + AA_TF_Y)
#define AA_TF_QUTR_TZ (AA_TF_QUTR_T + AA_TF_Z)
 
#define AA_TF_DUQU_REAL 0
#define AA_TF_DUQU_DUAL 4
 
#define AA_TF_DUQU_REAL_W    (AA_TF_DUQU_REAL + AA_TF_QUAT_W)
#define AA_TF_DUQU_REAL_XYZ  (AA_TF_DUQU_REAL + AA_TF_QUAT_XYZ)
#define AA_TF_DUQU_REAL_X  (AA_TF_DUQU_REAL + AA_TF_QUAT_X)
#define AA_TF_DUQU_REAL_Y  (AA_TF_DUQU_REAL + AA_TF_QUAT_Y)
#define AA_TF_DUQU_REAL_Z  (AA_TF_DUQU_REAL + AA_TF_QUAT_Z)
 
#define AA_TF_DUQU_DUAL_W    (AA_TF_DUQU_DUAL + AA_TF_QUAT_W)
#define AA_TF_DUQU_DUAL_XYZ  (AA_TF_DUQU_DUAL + AA_TF_QUAT_XYZ)
#define AA_TF_DUQU_DUAL_X  (AA_TF_DUQU_DUAL + AA_TF_QUAT_X)
#define AA_TF_DUQU_DUAL_Y  (AA_TF_DUQU_DUAL + AA_TF_QUAT_Y)
#define AA_TF_DUQU_DUAL_Z  (AA_TF_DUQU_DUAL + AA_TF_QUAT_Z)
 
 
#endif //AMINO_TF_TYPE_H