From bed724fe33b2dc903b89f8f8517738370c751cd1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 7 Apr 2010 23:51:28 +0200 Subject: digital/avr/modules/math/geometry: add new module --- digital/avr/modules/math/geometry/vect.h | 107 +++++++++++++++++++++++++++++++ 1 file changed, 107 insertions(+) create mode 100644 digital/avr/modules/math/geometry/vect.h (limited to 'digital/avr/modules/math/geometry/vect.h') diff --git a/digital/avr/modules/math/geometry/vect.h b/digital/avr/modules/math/geometry/vect.h new file mode 100644 index 00000000..6a1cc570 --- /dev/null +++ b/digital/avr/modules/math/geometry/vect.h @@ -0,0 +1,107 @@ +#ifndef vect_h +#define vect_h +/* vect.h */ +/* avr.math.geometry - Geometry math module. {{{ + * + * Copyright (C) 2010 Nicolas Schodet + * + * APBTeam: + * Web: http://apbteam.org/ + * Email: team AT apbteam DOT org + * + * 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. + * + * }}} */ + +/* See fixed.h for numbers notation convention. Angles are in the [0, 1) + * interval, counter clock wise, uf0.16 unless noted. */ + +/** Vector single value. As we are working with millimeters most of the time, + * 16 bits are enough. There is no magic, if you change this, code should be + * reviewed. */ +typedef int16_t vect_value_t; + +/** 2D vector. */ +struct vect_t +{ + /** X coordinate. */ + vect_value_t x; + /** Y coordinate. */ + vect_value_t y; +}; +typedef struct vect_t vect_t; + +/** Scale (multiply) a vector by a fixed point value. + * - v: input/result vector. + * - s_f824: scale (f8.24). */ +void +vect_scale_f824 (vect_t *v, int32_t s_f824); + +/** Rotate a vector. + * - v: input/result vector. + * - a_uf016: angle of rotation (uf0.16). */ +void +vect_rotate_uf016 (vect_t *v, uint16_t a_uf016); + +/** Translate a vector (add two vectors). + * - v: input/result vector. + * - t: translation vector. */ +void +vect_translate (vect_t *v, const vect_t *t); + +/** Same as vect_translate. */ +#define vect_add vect_translate + +/** Substract two vectors. + * - v: input/result vector. + * - n: substracted vector. */ +void +vect_sub (vect_t *v, const vect_t *n); + +/** Compute vector norm (length). + * - v: input vector. + * - returns: norm. */ +vect_value_t +vect_norm (const vect_t *v); + +/** Compute a vector from polar coordinates. + * - v: result vector. + * - l: vector length. + * - a_uf016: vector angle (uf0.16). */ +void +vect_from_polar_uf016 (vect_t *v, int16_t l, uint16_t a_uf016); + +/** Scale (multiply) vectors by a fixed point value. + * - va: input/result vectors array. + * - vn: number of vectors. + * - s_f824: scale (f8.24). */ +void +vect_array_scale_f824 (vect_t *va, uint8_t vn, int32_t s_f824); + +/** Rotate vectors. + * - va: input/result vectors array. + * - vn: number of vectors. + * - a_uf016: angle of rotation (uf0.16). */ +void +vect_array_rotate_uf016 (vect_t *va, uint8_t vn, uint16_t a_uf016); + +/** Translate vectors. + * - va: input/result vectors array. + * - vn: number of vectors. + * - t: translation vector. */ +void +vect_array_translate (vect_t *va, uint8_t vn, const vect_t *t); + +#endif /* vect_h */ -- cgit v1.2.3