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/** @file
@brief Header
Must be c-safe!
@date 2014
@author
Sensics, Inc.
<http://sensics.com/osvr>
*/
/*
// Copyright 2014 Sensics, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
*/
#ifndef INCLUDED_Pose3C_h_GUID_066CFCE2_229C_4194_5D2B_2602CCD5C439
#define INCLUDED_Pose3C_h_GUID_066CFCE2_229C_4194_5D2B_2602CCD5C439
/* Internal Includes */
/* Internal Includes */
#include <osvr/Util/APIBaseC.h>
#include <osvr/Util/Vec3C.h>
#include <osvr/Util/QuaternionC.h>
/* Library/third-party includes */
/* none */
/* Standard includes */
/* none */
OSVR_EXTERN_C_BEGIN
/** @addtogroup UtilMath
@{
*/
/** @brief A structure defining a 3D (6DOF) rigid body pose: translation and
rotation.
*/
typedef struct OSVR_Pose3 {
/** @brief Position vector */
OSVR_Vec3 translation;
/** @brief Orientation as a unit quaternion */
OSVR_Quaternion rotation;
} OSVR_Pose3;
/** @brief Set a pose to identity */
OSVR_INLINE void osvrPose3SetIdentity(OSVR_Pose3 *pose) {
osvrQuatSetIdentity(&(pose->rotation));
osvrVec3Zero(&(pose->translation));
}
/** @} */
OSVR_EXTERN_C_END
#endif
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