aversive_10-03-12/modules/base/math/vect2/vect2.h

Go to the documentation of this file.

/*  
 *  Copyright Droids Corporation, Microb Technology, Eirbot (2005)
 * 
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 *  Revision : $Id: vect2.h,v 1.3 2006-07-22 09:22:42 zer0 Exp $
 *
 */

#ifndef _VECT2_H_
#define _VECT2_H_

typedef double Real;

#define TO_RAD(x) (((double)x)*(M_PI/180.0))
#define TO_DEG(x) (((double)x)*(180.0/M_PI))

typedef struct _vect2_cart
{
   Real x;
   Real y;
   
}vect2_cart;


typedef struct _vect2_pol
{
   Real r;
   Real theta;
   
}vect2_pol;

/************************ Begin prototyping ************************/

void vect2_pol2cart(vect2_pol* vp, vect2_cart* vc);


void vect2_cart2pol(vect2_cart* vc, vect2_pol* vp);

void vect2_add_pol(vect2_pol* v1, vect2_pol* v2, vect2_pol* vresult);


void vect2_add_cart(vect2_cart* v1, vect2_cart* v2, vect2_cart* vresult);


void vect2_sub_pol(vect2_pol* v1, vect2_pol* v2, vect2_pol* vresult);

void vect2_sub_cart(vect2_cart* v1, vect2_cart* v2, vect2_cart* vresult);


void vect2_scale_cart(vect2_cart* v1, Real alpha, vect2_cart* vresult);

void vect2_scale_pol(vect2_pol* v1, Real alpha, vect2_pol* vresult);

#endif /*_VECT2_H_*/

---