diff --git a/basic-geometry/basic-geometry.cbp b/basic-geometry/basic-geometry.cbp
index 28ce0a6..e7896ef 100644
--- a/basic-geometry/basic-geometry.cbp
+++ b/basic-geometry/basic-geometry.cbp
@@ -100,6 +100,10 @@
+
+
+
+
diff --git a/basic-geometry/posture3.c b/basic-geometry/posture3.c
deleted file mode 100644
index 87dd872..0000000
--- a/basic-geometry/posture3.c
+++ /dev/null
@@ -1,40 +0,0 @@
-#include "posture3.h"
-
-extern inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture);
-extern inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture);
-
-extern inline void bgc_fp32_posture3_copy(BGC_FP32_Posture3* destination, const BGC_FP32_Posture3* source);
-extern inline void bgc_fp64_posture3_copy(BGC_FP64_Posture3* destination, const BGC_FP64_Posture3* source);
-
-extern inline void bgc_fp32_posture3_swap(BGC_FP32_Posture3* posture1, BGC_FP32_Posture3* posture2);
-extern inline void bgc_fp64_posture3_swap(BGC_FP64_Posture3* posture1, BGC_FP64_Posture3* posture2);
-
-extern inline void bgc_fp32_posture3_convert_to_fp64(BGC_FP64_Posture3* destination, const BGC_FP32_Posture3* source);
-extern inline void bgc_fp64_posture3_convert_to_fp32(BGC_FP32_Posture3* destination, const BGC_FP64_Posture3* source);
-
-extern inline void bgc_fp32_posture3_combine(BGC_FP32_Posture3* combination, const BGC_FP32_Posture3* first, const BGC_FP32_Posture3* second);
-extern inline void bgc_fp64_posture3_combine(BGC_FP64_Posture3* combination, const BGC_FP64_Posture3* first, const BGC_FP64_Posture3* second);
-
-void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture, const float square_magnitude)
-{
- if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
- bgc_fp32_posture3_reset(posture);
- return;
- }
-
- const float multiplier = sqrtf(1.0f / square_magnitude);
-
- bgc_fp32_dual_quaternion_multiply_by_real_number(&posture->_versor, &posture->_versor, multiplier);
-}
-
-void _bgc_fp64_posture3_normalize(BGC_FP64_Posture3* posture, const double square_magnitude)
-{
- if (square_magnitude <= BGC_FP64_SQUARE_EPSILON || isnan(square_magnitude)) {
- bgc_fp64_posture3_reset(posture);
- return;
- }
-
- const double multiplier = sqrt(1.0 / square_magnitude);
-
- bgc_fp64_dual_quaternion_multiply_by_real_number(&posture->_versor, &posture->_versor, multiplier);
-}
diff --git a/basic-geometry/posture3.h b/basic-geometry/posture3.h
deleted file mode 100644
index 1427bb0..0000000
--- a/basic-geometry/posture3.h
+++ /dev/null
@@ -1,114 +0,0 @@
-#ifndef _BGC_POSTURE3_H_INCLUDED_
-#define _BGC_POSTURE3_H_INCLUDED_
-
-#include "types.h"
-#include "quaternion.h"
-#include "dual-quaternion.h"
-
-// ================= Normalize ================== //
-
-void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture, const float square_magnitude);
-
-void _bgc_fp64_posture3_normalize(BGC_FP64_Posture3* posture, const double square_magnitude);
-
-// ==================== Reset =================== //
-
-inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture)
-{
- posture->_versor.real_part.s0 = 1.0f;
- posture->_versor.real_part.x1 = 0.0f;
- posture->_versor.real_part.x2 = 0.0f;
- posture->_versor.real_part.x3 = 0.0f;
-
- posture->_versor.dual_part.s0 = 0.0f;
- posture->_versor.dual_part.x1 = 0.0f;
- posture->_versor.dual_part.x2 = 0.0f;
- posture->_versor.dual_part.x3 = 0.0f;
-}
-
-inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture)
-{
- posture->_versor.real_part.s0 = 1.0;
- posture->_versor.real_part.x1 = 0.0;
- posture->_versor.real_part.x2 = 0.0;
- posture->_versor.real_part.x3 = 0.0;
-
- posture->_versor.dual_part.s0 = 0.0;
- posture->_versor.dual_part.x1 = 0.0;
- posture->_versor.dual_part.x2 = 0.0;
- posture->_versor.dual_part.x3 = 0.0;
-}
-
-// ==================== Copy ==================== //
-
-inline void bgc_fp32_posture3_copy(BGC_FP32_Posture3* destination, const BGC_FP32_Posture3* source)
-{
- bgc_fp32_dual_quaternion_copy(&destination->_versor, &source->_versor);
-}
-
-inline void bgc_fp64_posture3_copy(BGC_FP64_Posture3* destination, const BGC_FP64_Posture3* source)
-{
- bgc_fp64_dual_quaternion_copy(&destination->_versor, &source->_versor);
-}
-
-// ==================== Swap ==================== //
-
-inline void bgc_fp32_posture3_swap(BGC_FP32_Posture3* posture1, BGC_FP32_Posture3* posture2)
-{
- bgc_fp32_dual_quaternion_swap(&posture1->_versor, &posture2->_versor);
-}
-
-inline void bgc_fp64_posture3_swap(BGC_FP64_Posture3* posture1, BGC_FP64_Posture3* posture2)
-{
- bgc_fp64_dual_quaternion_swap(&posture1->_versor, &posture2->_versor);
-}
-
-// ================== Convert =================== //
-
-inline void bgc_fp32_posture3_convert_to_fp64(BGC_FP64_Posture3* destination, const BGC_FP32_Posture3* source)
-{
- bgc_fp32_dual_quaternion_convert_to_fp64(&destination->_versor, &source->_versor);
-
- const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&destination->_versor.real_part);
-
- if (!bgc_fp64_is_square_unit(square_magnitude)) {
- _bgc_fp64_posture3_normalize(destination, square_magnitude);
- }
-}
-
-inline void bgc_fp64_posture3_convert_to_fp32(BGC_FP32_Posture3* destination, const BGC_FP64_Posture3* source)
-{
- bgc_fp64_dual_quaternion_convert_to_fp32(&destination->_versor, &source->_versor);
-
- const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&destination->_versor.real_part);
-
- if (!bgc_fp32_is_square_unit(square_magnitude)) {
- _bgc_fp32_posture3_normalize(destination, square_magnitude);
- }
-}
-
-// ================== Combine =================== //
-
-inline void bgc_fp32_posture3_combine(BGC_FP32_Posture3* combination, const BGC_FP32_Posture3* first, const BGC_FP32_Posture3* second)
-{
- bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
-
- const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&combination->_versor.real_part);
-
- if (!bgc_fp32_is_square_unit(square_magnitude)) {
- _bgc_fp32_posture3_normalize(combination, square_magnitude);
- }
-}
-
-inline void bgc_fp64_posture3_combine(BGC_FP64_Posture3* combination, const BGC_FP64_Posture3* first, const BGC_FP64_Posture3* second)
-{
- bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
-
- const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&combination->_versor.real_part);
-
- if (!bgc_fp64_is_square_unit(square_magnitude)) {
- _bgc_fp64_posture3_normalize(combination, square_magnitude);
- }
-}
-
-#endif
diff --git a/basic-geometry/rigid-pose3.c b/basic-geometry/rigid-pose3.c
new file mode 100644
index 0000000..afae546
--- /dev/null
+++ b/basic-geometry/rigid-pose3.c
@@ -0,0 +1,42 @@
+#include "rigid-pose3.h"
+
+extern inline void bgc_fp32_rigid_pose3_reset(BGC_FP32_RigidPose3* pose);
+extern inline void bgc_fp64_rigid_pose3_reset(BGC_FP64_RigidPose3* pose);
+
+extern inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* destination, const BGC_FP32_RigidPose3* source);
+extern inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* destination, const BGC_FP64_RigidPose3* source);
+
+extern inline void bgc_fp32_rigid_pose3_swap(BGC_FP32_RigidPose3* pose1, BGC_FP32_RigidPose3* pose2);
+extern inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* pose1, BGC_FP64_RigidPose3* pose2);
+
+extern inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* destination, const BGC_FP32_RigidPose3* source);
+extern inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destination, const BGC_FP64_RigidPose3* source);
+
+extern inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* combination, const BGC_FP32_RigidPose3* first, const BGC_FP32_RigidPose3* second);
+extern inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const BGC_FP64_RigidPose3* first, const BGC_FP64_RigidPose3* second);
+
+void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose, const float square_magnitude)
+{
+ if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
+ bgc_fp32_rigid_pose3_reset(pose);
+ return;
+ }
+
+ const float multiplier = sqrtf(1.0f / square_magnitude);
+
+ bgc_fp32_quaternion_multiply_by_real(&pose->_real_part, &pose->_real_part, multiplier);
+ bgc_fp32_quaternion_multiply_by_real(&pose->_dual_part, &pose->_dual_part, multiplier);
+}
+
+void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose, const double square_magnitude)
+{
+ if (square_magnitude <= BGC_FP64_SQUARE_EPSILON || isnan(square_magnitude)) {
+ bgc_fp64_rigid_pose3_reset(pose);
+ return;
+ }
+
+ const double multiplier = sqrt(1.0 / square_magnitude);
+
+ bgc_fp64_quaternion_multiply_by_real(&pose->_real_part, &pose->_real_part, multiplier);
+ bgc_fp64_quaternion_multiply_by_real(&pose->_dual_part, &pose->_dual_part, multiplier);
+}
diff --git a/basic-geometry/rigid-pose3.h b/basic-geometry/rigid-pose3.h
new file mode 100644
index 0000000..10b1f3f
--- /dev/null
+++ b/basic-geometry/rigid-pose3.h
@@ -0,0 +1,123 @@
+#ifndef _BGC_RIGID_POSE3_H_INCLUDED_
+#define _BGC_RIGID_POSE3_H_INCLUDED_
+
+#include "types.h"
+#include "quaternion.h"
+
+// ================= Normalize ================== //
+
+void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose, const float square_magnitude);
+
+void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose, const double square_magnitude);
+
+// ==================== Reset =================== //
+
+inline void bgc_fp32_rigid_pose3_reset(BGC_FP32_RigidPose3* pose)
+{
+ pose->_real_part.s0 = 1.0f;
+ pose->_real_part.x1 = 0.0f;
+ pose->_real_part.x2 = 0.0f;
+ pose->_real_part.x3 = 0.0f;
+
+ pose->_dual_part.s0 = 0.0f;
+ pose->_dual_part.x1 = 0.0f;
+ pose->_dual_part.x2 = 0.0f;
+ pose->_dual_part.x3 = 0.0f;
+}
+
+inline void bgc_fp64_rigid_pose3_reset(BGC_FP64_RigidPose3* pose)
+{
+ pose->_real_part.s0 = 1.0;
+ pose->_real_part.x1 = 0.0;
+ pose->_real_part.x2 = 0.0;
+ pose->_real_part.x3 = 0.0;
+
+ pose->_dual_part.s0 = 0.0;
+ pose->_dual_part.x1 = 0.0;
+ pose->_dual_part.x2 = 0.0;
+ pose->_dual_part.x3 = 0.0;
+}
+
+// ==================== Copy ==================== //
+
+inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* destination, const BGC_FP32_RigidPose3* source)
+{
+ bgc_fp32_quaternion_copy(&destination->_real_part, &source->_real_part);
+ bgc_fp32_quaternion_copy(&destination->_dual_part, &source->_dual_part);
+}
+
+inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* destination, const BGC_FP64_RigidPose3* source)
+{
+ bgc_fp64_quaternion_copy(&destination->_real_part, &source->_real_part);
+ bgc_fp64_quaternion_copy(&destination->_dual_part, &source->_dual_part);
+}
+
+// ==================== Swap ==================== //
+
+inline void bgc_fp32_rigid_pose3_swap(BGC_FP32_RigidPose3* pose1, BGC_FP32_RigidPose3* pose2)
+{
+ bgc_fp32_quaternion_swap(&pose1->_real_part, &pose2->_real_part);
+ bgc_fp32_quaternion_swap(&pose1->_dual_part, &pose2->_dual_part);
+}
+
+inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* pose1, BGC_FP64_RigidPose3* pose2)
+{
+ bgc_fp64_quaternion_swap(&pose1->_real_part, &pose2->_real_part);
+ bgc_fp64_quaternion_swap(&pose1->_dual_part, &pose2->_dual_part);
+}
+
+// ================== Convert =================== //
+
+inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* destination, const BGC_FP32_RigidPose3* source)
+{
+ bgc_fp32_quaternion_convert_to_fp64(&destination->_real_part, &source->_real_part);
+ bgc_fp32_quaternion_convert_to_fp64(&destination->_dual_part, &source->_dual_part);
+
+ const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&destination->_real_part);
+
+ if (!bgc_fp64_is_square_unit(square_magnitude)) {
+ _bgc_fp64_rigid_pose3_normalize(destination, square_magnitude);
+ }
+
+ const double square_magnitude = bgc_fp64_quaternion_get_(&destination->_real_part);
+
+ bgc_fp64_quaternion_subtract_scaled(&destination->_dual_part, &destination->_dual_part, &destination->_real_part);
+}
+
+inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destination, const BGC_FP64_RigidPose3* source)
+{
+ bgc_fp64_quaternion_convert_to_fp32(&destination->_real_part, &source->_real_part);
+ bgc_fp64_quaternion_convert_to_fp32(&destination->_dual_part, &source->_dual_part);
+
+ const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&destination->_real_part);
+
+ if (!bgc_fp32_is_square_unit(square_magnitude)) {
+ _bgc_fp32_rigid_pose3_normalize(destination, square_magnitude);
+ }
+}
+
+// ================== Combine =================== //
+
+inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* combination, const BGC_FP32_RigidPose3* first, const BGC_FP32_RigidPose3* second)
+{
+ bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
+
+ const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&combination->_real_part);
+
+ if (!bgc_fp32_is_square_unit(square_magnitude)) {
+ _bgc_fp32_rigid_pose3_normalize(combination, square_magnitude);
+ }
+}
+
+inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const BGC_FP64_RigidPose3* first, const BGC_FP64_RigidPose3* second)
+{
+ bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
+
+ const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&combination->_real_part);
+
+ if (!bgc_fp64_is_square_unit(square_magnitude)) {
+ _bgc_fp64_rigid_pose3_normalize(combination, square_magnitude);
+ }
+}
+
+#endif
diff --git a/basic-geometry/types.h b/basic-geometry/types.h
index ba9961e..bf34326 100644
--- a/basic-geometry/types.h
+++ b/basic-geometry/types.h
@@ -211,14 +211,14 @@ typedef struct {
BGC_FP64_Quaternion real_part, dual_part;
} BGC_FP64_DualQuaternion;
-// ================== Posture3 ================== //
+// ================ Rigid Pose3 ================= //
typedef struct {
- BGC_FP32_DualQuaternion _versor;
-} BGC_FP32_Posture3;
+ BGC_FP32_Quaternion _real_part, _dual_part;
+} BGC_FP32_RigidPose3;
typedef struct {
- BGC_FP64_DualQuaternion _versor;
-} BGC_FP64_Posture3;
+ BGC_FP64_Quaternion _real_part, _dual_part;
+} BGC_FP64_RigidPose3;
#endif