Base implementations for math library. More...

#include "math/m_api.h"
#include "math/m_eigen_interop.hpp"
#include "math/m_vec3.h"
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <assert.h>

Include dependency graph for m_base.cpp:

Functions
static Eigen::Quaternionf	copy (const struct xrt_quat &q)

static Eigen::Quaternionf	copy (const struct xrt_quat *q)

static XRT_MAYBE_UNUSED Eigen::Quaterniond	copyd (const struct xrt_quat &q)

static XRT_MAYBE_UNUSED Eigen::Quaterniond	copyd (const struct xrt_quat *q)

static Eigen::Vector3f	copy (const struct xrt_vec3 &v)

static Eigen::Vector3f	copy (const struct xrt_vec3 *v)

static Eigen::Vector3d	copy (const struct xrt_vec3_f64 &v)

static Eigen::Vector3d	copy (const struct xrt_vec3_f64 *v)

static XRT_MAYBE_UNUSED Eigen::Vector3d	copyd (const struct xrt_vec3 &v)

static XRT_MAYBE_UNUSED Eigen::Vector3d	copyd (const struct xrt_vec3 *v)

static Eigen::Matrix3f	copy (const struct xrt_matrix_3x3 *m)

static Eigen::Matrix4f	copy (const struct xrt_matrix_4x4 *m)

bool	math_vec3_validate (const struct xrt_vec3 *vec3)

void	math_vec3_accum (const struct xrt_vec3 additional, struct xrt_vec3 inAndOut)

void	math_vec3_subtract (const struct xrt_vec3 subtrahend, struct xrt_vec3 inAndOut)

void	math_vec3_scalar_mul (float scalar, struct xrt_vec3 *inAndOut)

void	math_vec3_cross (const struct xrt_vec3 l, const struct xrt_vec3 r, struct xrt_vec3 *result)

void	math_vec3_normalize (struct xrt_vec3 *in)

void	math_vec3_translation_from_isometry (const struct xrt_matrix_4x4 transform, struct xrt_vec3 result)

void	math_vec3_f64_cross (const struct xrt_vec3_f64 l, const struct xrt_vec3_f64 r, struct xrt_vec3_f64 *result)

void	math_vec3_f64_normalize (struct xrt_vec3_f64 *in)

void	math_quat_from_angle_vector (float angle_rads, const struct xrt_vec3 vector, struct xrt_quat result)

void	math_quat_from_euler_angles (const struct xrt_vec3 angles, struct xrt_quat result)

void	math_quat_to_euler_angles (const struct xrt_quat quat, struct xrt_vec3 euler_angles)

void	math_quat_from_matrix_3x3 (const struct xrt_matrix_3x3 mat, struct xrt_quat result)

void	math_quat_from_plus_x_z (const struct xrt_vec3 plus_x, const struct xrt_vec3 plus_z, struct xrt_quat *result)

void	math_quat_from_vec_a_to_vec_b (const struct xrt_vec3 vec_a, const struct xrt_vec3 vec_b, struct xrt_quat *result)

static bool	quat_validate (const float precision, const struct xrt_quat *quat)

bool	math_quat_validate (const struct xrt_quat *quat)

bool	math_quat_validate_within_1_percent (const struct xrt_quat *quat)

void	math_quat_invert (const struct xrt_quat quat, struct xrt_quat out_quat)

float	math_quat_len (const struct xrt_quat *quat)

void	math_quat_normalize (struct xrt_quat *inout)

bool	math_quat_ensure_normalized (struct xrt_quat *inout)

void	math_quat_rotate (const struct xrt_quat left, const struct xrt_quat right, struct xrt_quat *result)

void	math_quat_unrotate (const struct xrt_quat left, const struct xrt_quat right, struct xrt_quat *result)

void	math_quat_rotate_vec3 (const struct xrt_quat left, const struct xrt_vec3 right, struct xrt_vec3 *result)

void	math_quat_rotate_derivative (const struct xrt_quat quat, const struct xrt_vec3 deriv, struct xrt_vec3 *result)

void	math_quat_slerp (const struct xrt_quat left, const struct xrt_quat right, float t, struct xrt_quat *result)

void	math_quat_from_swing (const struct xrt_vec2 swing, struct xrt_quat result)

void	math_quat_from_swing_twist (const struct xrt_vec2 swing, const float twist, struct xrt_quat result)

void	math_quat_decompose_swing_twist (const struct xrt_quat in, const struct xrt_vec3 twist_axis, struct xrt_quat swing, struct xrt_quat twist)

void	math_matrix_3x3_identity (struct xrt_matrix_3x3 *mat)
	Initialize a 3x3 matrix to the identity matrix. More...

void	math_matrix_3x3_from_quat (const struct xrt_quat q, struct xrt_matrix_3x3 result_out)
	Initialize a 3x3 matrix from a quaternion. More...

void	math_matrix_3x3_f64_identity (struct xrt_matrix_3x3_f64 *mat)
	Initialize a double 3x3 matrix to the identity matrix. More...

void	math_matrix_3x3_f64_transform_vec3_f64 (const struct xrt_matrix_3x3_f64 left, const struct xrt_vec3_f64 right, struct xrt_vec3_f64 *result_out)
	Transform a double vec3 by a 3x3 double matrix. More...

void	math_matrix_3x3_f64_from_plus_x_z (const struct xrt_vec3_f64 plus_x, const struct xrt_vec3_f64 plus_z, struct xrt_matrix_3x3_f64 *result)

void	math_matrix_3x3_rotation_from_isometry (const struct xrt_matrix_4x4 isometry, struct xrt_matrix_3x3 result)

void	math_matrix_3x3_transform_vec3 (const struct xrt_matrix_3x3 left, const struct xrt_vec3 right, struct xrt_vec3 *result_out)
	Transform a vec3 by a 3x3 matrix. More...

void	math_matrix_4x4_transform_vec3 (const struct xrt_matrix_4x4 left, const struct xrt_vec3 right, struct xrt_vec3 *result_out)
	Transform a vec3 by a 4x4 matrix, extending the vector with w = 1.0. More...

void	math_matrix_3x3_multiply (const struct xrt_matrix_3x3 left, const struct xrt_matrix_3x3 right, struct xrt_matrix_3x3 *result_out)

void	math_matrix_3x3_inverse (const struct xrt_matrix_3x3 in, struct xrt_matrix_3x3 result)

void	math_matrix_3x3_transpose (const struct xrt_matrix_3x3 in, struct xrt_matrix_3x3 result)

void	math_matrix_4x4_identity (struct xrt_matrix_4x4 *result)

void	math_matrix_4x4_multiply (const struct xrt_matrix_4x4 left, const struct xrt_matrix_4x4 right, struct xrt_matrix_4x4 *result)

void	math_matrix_4x4_inverse (const struct xrt_matrix_4x4 in, struct xrt_matrix_4x4 result)

void	math_matrix_4x4_transpose (const struct xrt_matrix_4x4 in, struct xrt_matrix_4x4 result)

void	math_matrix_4x4_isometry_inverse (const struct xrt_matrix_4x4 in, struct xrt_matrix_4x4 result)

void	math_matrix_4x4_view_from_pose (const struct xrt_pose pose, struct xrt_matrix_4x4 result)

void	math_matrix_4x4_isometry_from_rt (const struct xrt_matrix_3x3 rotation, const struct xrt_vec3 translation, struct xrt_matrix_4x4 *result)

void	math_matrix_4x4_isometry_from_pose (const struct xrt_pose pose, struct xrt_matrix_4x4 result)

void	math_matrix_4x4_model (const struct xrt_pose pose, const struct xrt_vec3 size, struct xrt_matrix_4x4 *result)

void	math_matrix_4x4_inverse_view_projection (const struct xrt_matrix_4x4 view, const struct xrt_matrix_4x4 projection, struct xrt_matrix_4x4 *result)

void	m_mat4_f64_identity (struct xrt_matrix_4x4_f64 *result)

void	m_mat4_f64_invert (const struct xrt_matrix_4x4_f64 matrix, struct xrt_matrix_4x4_f64 result)

void	m_mat4_f64_multiply (const struct xrt_matrix_4x4_f64 left, const struct xrt_matrix_4x4_f64 right, struct xrt_matrix_4x4_f64 *result)

void	m_mat4_f64_orientation (const struct xrt_quat quat, struct xrt_matrix_4x4_f64 result)

void	m_mat4_f64_model (const struct xrt_pose pose, const struct xrt_vec3 size, struct xrt_matrix_4x4_f64 *result)

void	m_mat4_f64_view (const struct xrt_pose pose, struct xrt_matrix_4x4_f64 result)

bool	math_pose_validate (const struct xrt_pose *pose)

void	math_pose_invert (const struct xrt_pose pose, struct xrt_pose outPose)

void	math_pose_from_isometry (const struct xrt_matrix_4x4 transform, struct xrt_pose result)

void	math_pose_interpolate (const struct xrt_pose a, const struct xrt_pose b, float t, struct xrt_pose *outPose)

void	math_pose_identity (struct xrt_pose *pose)

static Eigen::Vector3f	transform_point (const xrt_pose &transform, const xrt_vec3 &point)
	Return the result of transforming a point by a pose/transform. More...

static xrt_pose	transform_pose (const xrt_pose &transform, const xrt_pose &pose)
	Return the result of transforming a pose by a pose/transform. More...

void	math_pose_transform (const struct xrt_pose transform, const struct xrt_pose pose, struct xrt_pose *outPose)

void	math_pose_transform_point (const struct xrt_pose transform, const struct xrt_vec3 point, struct xrt_vec3 *out_point)