Переименование Posture в Rigit Pose, изменение внутренней организации Rigid Pose
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6 changed files with 174 additions and 159 deletions
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@ -100,6 +100,10 @@
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<Option compilerVar="CC" />
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</Unit>
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<Unit filename="quaternion.h" />
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<Unit filename="rigid-pose3.c">
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<Option compilerVar="CC" />
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</Unit>
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<Unit filename="rigid-pose3.h" />
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<Unit filename="slerp3.c">
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<Option compilerVar="CC" />
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</Unit>
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@ -1,40 +0,0 @@
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#include "posture3.h"
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extern inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture);
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extern inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture);
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extern inline void bgc_fp32_posture3_copy(BGC_FP32_Posture3* destination, const BGC_FP32_Posture3* source);
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extern inline void bgc_fp64_posture3_copy(BGC_FP64_Posture3* destination, const BGC_FP64_Posture3* source);
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extern inline void bgc_fp32_posture3_swap(BGC_FP32_Posture3* posture1, BGC_FP32_Posture3* posture2);
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extern inline void bgc_fp64_posture3_swap(BGC_FP64_Posture3* posture1, BGC_FP64_Posture3* posture2);
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extern inline void bgc_fp32_posture3_convert_to_fp64(BGC_FP64_Posture3* destination, const BGC_FP32_Posture3* source);
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extern inline void bgc_fp64_posture3_convert_to_fp32(BGC_FP32_Posture3* destination, const BGC_FP64_Posture3* source);
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extern inline void bgc_fp32_posture3_combine(BGC_FP32_Posture3* combination, const BGC_FP32_Posture3* first, const BGC_FP32_Posture3* second);
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extern inline void bgc_fp64_posture3_combine(BGC_FP64_Posture3* combination, const BGC_FP64_Posture3* first, const BGC_FP64_Posture3* second);
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void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture, const float square_magnitude)
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{
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if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
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bgc_fp32_posture3_reset(posture);
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return;
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}
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const float multiplier = sqrtf(1.0f / square_magnitude);
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bgc_fp32_dual_quaternion_multiply_by_real_number(&posture->_versor, &posture->_versor, multiplier);
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}
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void _bgc_fp64_posture3_normalize(BGC_FP64_Posture3* posture, const double square_magnitude)
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{
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if (square_magnitude <= BGC_FP64_SQUARE_EPSILON || isnan(square_magnitude)) {
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bgc_fp64_posture3_reset(posture);
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return;
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}
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const double multiplier = sqrt(1.0 / square_magnitude);
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bgc_fp64_dual_quaternion_multiply_by_real_number(&posture->_versor, &posture->_versor, multiplier);
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}
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@ -1,114 +0,0 @@
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#ifndef _BGC_POSTURE3_H_INCLUDED_
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#define _BGC_POSTURE3_H_INCLUDED_
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#include "types.h"
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#include "quaternion.h"
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#include "dual-quaternion.h"
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// ================= Normalize ================== //
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void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture, const float square_magnitude);
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void _bgc_fp64_posture3_normalize(BGC_FP64_Posture3* posture, const double square_magnitude);
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// ==================== Reset =================== //
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inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture)
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{
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posture->_versor.real_part.s0 = 1.0f;
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posture->_versor.real_part.x1 = 0.0f;
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posture->_versor.real_part.x2 = 0.0f;
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posture->_versor.real_part.x3 = 0.0f;
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posture->_versor.dual_part.s0 = 0.0f;
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posture->_versor.dual_part.x1 = 0.0f;
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posture->_versor.dual_part.x2 = 0.0f;
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posture->_versor.dual_part.x3 = 0.0f;
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}
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inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture)
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{
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posture->_versor.real_part.s0 = 1.0;
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posture->_versor.real_part.x1 = 0.0;
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posture->_versor.real_part.x2 = 0.0;
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posture->_versor.real_part.x3 = 0.0;
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posture->_versor.dual_part.s0 = 0.0;
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posture->_versor.dual_part.x1 = 0.0;
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posture->_versor.dual_part.x2 = 0.0;
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posture->_versor.dual_part.x3 = 0.0;
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}
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// ==================== Copy ==================== //
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inline void bgc_fp32_posture3_copy(BGC_FP32_Posture3* destination, const BGC_FP32_Posture3* source)
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{
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bgc_fp32_dual_quaternion_copy(&destination->_versor, &source->_versor);
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}
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inline void bgc_fp64_posture3_copy(BGC_FP64_Posture3* destination, const BGC_FP64_Posture3* source)
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{
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bgc_fp64_dual_quaternion_copy(&destination->_versor, &source->_versor);
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}
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// ==================== Swap ==================== //
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inline void bgc_fp32_posture3_swap(BGC_FP32_Posture3* posture1, BGC_FP32_Posture3* posture2)
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{
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bgc_fp32_dual_quaternion_swap(&posture1->_versor, &posture2->_versor);
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}
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inline void bgc_fp64_posture3_swap(BGC_FP64_Posture3* posture1, BGC_FP64_Posture3* posture2)
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{
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bgc_fp64_dual_quaternion_swap(&posture1->_versor, &posture2->_versor);
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}
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// ================== Convert =================== //
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inline void bgc_fp32_posture3_convert_to_fp64(BGC_FP64_Posture3* destination, const BGC_FP32_Posture3* source)
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{
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bgc_fp32_dual_quaternion_convert_to_fp64(&destination->_versor, &source->_versor);
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const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&destination->_versor.real_part);
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if (!bgc_fp64_is_square_unit(square_magnitude)) {
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_bgc_fp64_posture3_normalize(destination, square_magnitude);
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}
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}
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inline void bgc_fp64_posture3_convert_to_fp32(BGC_FP32_Posture3* destination, const BGC_FP64_Posture3* source)
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{
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bgc_fp64_dual_quaternion_convert_to_fp32(&destination->_versor, &source->_versor);
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const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&destination->_versor.real_part);
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if (!bgc_fp32_is_square_unit(square_magnitude)) {
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_bgc_fp32_posture3_normalize(destination, square_magnitude);
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}
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}
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// ================== Combine =================== //
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inline void bgc_fp32_posture3_combine(BGC_FP32_Posture3* combination, const BGC_FP32_Posture3* first, const BGC_FP32_Posture3* second)
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{
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bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
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const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&combination->_versor.real_part);
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if (!bgc_fp32_is_square_unit(square_magnitude)) {
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_bgc_fp32_posture3_normalize(combination, square_magnitude);
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}
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}
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inline void bgc_fp64_posture3_combine(BGC_FP64_Posture3* combination, const BGC_FP64_Posture3* first, const BGC_FP64_Posture3* second)
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{
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bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
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const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&combination->_versor.real_part);
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if (!bgc_fp64_is_square_unit(square_magnitude)) {
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_bgc_fp64_posture3_normalize(combination, square_magnitude);
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}
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}
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#endif
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42
basic-geometry/rigid-pose3.c
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42
basic-geometry/rigid-pose3.c
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#include "rigid-pose3.h"
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extern inline void bgc_fp32_rigid_pose3_reset(BGC_FP32_RigidPose3* pose);
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extern inline void bgc_fp64_rigid_pose3_reset(BGC_FP64_RigidPose3* pose);
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extern inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* destination, const BGC_FP32_RigidPose3* source);
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extern inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* destination, const BGC_FP64_RigidPose3* source);
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extern inline void bgc_fp32_rigid_pose3_swap(BGC_FP32_RigidPose3* pose1, BGC_FP32_RigidPose3* pose2);
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extern inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* pose1, BGC_FP64_RigidPose3* pose2);
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extern inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* destination, const BGC_FP32_RigidPose3* source);
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extern inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destination, const BGC_FP64_RigidPose3* source);
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extern inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* combination, const BGC_FP32_RigidPose3* first, const BGC_FP32_RigidPose3* second);
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extern inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const BGC_FP64_RigidPose3* first, const BGC_FP64_RigidPose3* second);
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void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose, const float square_magnitude)
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{
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if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
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bgc_fp32_rigid_pose3_reset(pose);
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return;
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}
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const float multiplier = sqrtf(1.0f / square_magnitude);
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bgc_fp32_quaternion_multiply_by_real(&pose->_real_part, &pose->_real_part, multiplier);
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bgc_fp32_quaternion_multiply_by_real(&pose->_dual_part, &pose->_dual_part, multiplier);
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}
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void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose, const double square_magnitude)
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{
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if (square_magnitude <= BGC_FP64_SQUARE_EPSILON || isnan(square_magnitude)) {
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bgc_fp64_rigid_pose3_reset(pose);
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return;
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}
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const double multiplier = sqrt(1.0 / square_magnitude);
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bgc_fp64_quaternion_multiply_by_real(&pose->_real_part, &pose->_real_part, multiplier);
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bgc_fp64_quaternion_multiply_by_real(&pose->_dual_part, &pose->_dual_part, multiplier);
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}
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123
basic-geometry/rigid-pose3.h
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123
basic-geometry/rigid-pose3.h
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#ifndef _BGC_RIGID_POSE3_H_INCLUDED_
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#define _BGC_RIGID_POSE3_H_INCLUDED_
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#include "types.h"
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#include "quaternion.h"
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// ================= Normalize ================== //
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void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose, const float square_magnitude);
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void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose, const double square_magnitude);
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// ==================== Reset =================== //
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inline void bgc_fp32_rigid_pose3_reset(BGC_FP32_RigidPose3* pose)
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{
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pose->_real_part.s0 = 1.0f;
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pose->_real_part.x1 = 0.0f;
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pose->_real_part.x2 = 0.0f;
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pose->_real_part.x3 = 0.0f;
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pose->_dual_part.s0 = 0.0f;
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pose->_dual_part.x1 = 0.0f;
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pose->_dual_part.x2 = 0.0f;
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pose->_dual_part.x3 = 0.0f;
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}
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inline void bgc_fp64_rigid_pose3_reset(BGC_FP64_RigidPose3* pose)
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{
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pose->_real_part.s0 = 1.0;
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pose->_real_part.x1 = 0.0;
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pose->_real_part.x2 = 0.0;
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pose->_real_part.x3 = 0.0;
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pose->_dual_part.s0 = 0.0;
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pose->_dual_part.x1 = 0.0;
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pose->_dual_part.x2 = 0.0;
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pose->_dual_part.x3 = 0.0;
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}
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// ==================== Copy ==================== //
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inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* destination, const BGC_FP32_RigidPose3* source)
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{
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bgc_fp32_quaternion_copy(&destination->_real_part, &source->_real_part);
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bgc_fp32_quaternion_copy(&destination->_dual_part, &source->_dual_part);
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}
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inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* destination, const BGC_FP64_RigidPose3* source)
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{
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bgc_fp64_quaternion_copy(&destination->_real_part, &source->_real_part);
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bgc_fp64_quaternion_copy(&destination->_dual_part, &source->_dual_part);
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}
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// ==================== Swap ==================== //
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inline void bgc_fp32_rigid_pose3_swap(BGC_FP32_RigidPose3* pose1, BGC_FP32_RigidPose3* pose2)
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{
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bgc_fp32_quaternion_swap(&pose1->_real_part, &pose2->_real_part);
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bgc_fp32_quaternion_swap(&pose1->_dual_part, &pose2->_dual_part);
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}
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inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* pose1, BGC_FP64_RigidPose3* pose2)
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{
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bgc_fp64_quaternion_swap(&pose1->_real_part, &pose2->_real_part);
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bgc_fp64_quaternion_swap(&pose1->_dual_part, &pose2->_dual_part);
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}
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// ================== Convert =================== //
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inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* destination, const BGC_FP32_RigidPose3* source)
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{
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bgc_fp32_quaternion_convert_to_fp64(&destination->_real_part, &source->_real_part);
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bgc_fp32_quaternion_convert_to_fp64(&destination->_dual_part, &source->_dual_part);
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const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&destination->_real_part);
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if (!bgc_fp64_is_square_unit(square_magnitude)) {
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_bgc_fp64_rigid_pose3_normalize(destination, square_magnitude);
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}
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const double square_magnitude = bgc_fp64_quaternion_get_(&destination->_real_part);
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bgc_fp64_quaternion_subtract_scaled(&destination->_dual_part, &destination->_dual_part, &destination->_real_part);
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}
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inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destination, const BGC_FP64_RigidPose3* source)
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{
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bgc_fp64_quaternion_convert_to_fp32(&destination->_real_part, &source->_real_part);
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bgc_fp64_quaternion_convert_to_fp32(&destination->_dual_part, &source->_dual_part);
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const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&destination->_real_part);
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if (!bgc_fp32_is_square_unit(square_magnitude)) {
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_bgc_fp32_rigid_pose3_normalize(destination, square_magnitude);
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}
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}
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// ================== Combine =================== //
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inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* combination, const BGC_FP32_RigidPose3* first, const BGC_FP32_RigidPose3* second)
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{
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bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
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const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&combination->_real_part);
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if (!bgc_fp32_is_square_unit(square_magnitude)) {
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_bgc_fp32_rigid_pose3_normalize(combination, square_magnitude);
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}
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}
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inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const BGC_FP64_RigidPose3* first, const BGC_FP64_RigidPose3* second)
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{
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bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
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const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&combination->_real_part);
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if (!bgc_fp64_is_square_unit(square_magnitude)) {
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_bgc_fp64_rigid_pose3_normalize(combination, square_magnitude);
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}
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}
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#endif
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BGC_FP64_Quaternion real_part, dual_part;
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} BGC_FP64_DualQuaternion;
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// ================== Posture3 ================== //
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// ================ Rigid Pose3 ================= //
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typedef struct {
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BGC_FP32_DualQuaternion _versor;
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} BGC_FP32_Posture3;
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BGC_FP32_Quaternion _real_part, _dual_part;
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} BGC_FP32_RigidPose3;
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typedef struct {
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BGC_FP64_DualQuaternion _versor;
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} BGC_FP64_Posture3;
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BGC_FP64_Quaternion _real_part, _dual_part;
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} BGC_FP64_RigidPose3;
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#endif
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