57 lines
988 B
C
57 lines
988 B
C
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//
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// Created by xtkuang on 2025/7/7.
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//
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#ifndef GEOMETRY_H
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#define GEOMETRY_H
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namespace cmvr::math {
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typedef struct {
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double x;
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double y;
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} Vec2;
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typedef struct {
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double x;
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double y;
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double z;
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} Vec3;
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/// quat
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typedef struct {
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double w;
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double x;
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double y;
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double z;
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} Quat;
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/// position 3d
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typedef struct {
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double x; //* unit: m
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double y;
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double z;
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} Position;
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/// euler angel
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typedef struct {
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double rx; //* unit: rad
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double ry;
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double rz;
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} Euler;
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/// pose 3d
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typedef struct {
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Position position; ///< 位置，单位：m
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Quat quaternion; ///< 四元数
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Euler euler; ///< 欧拉角，单位：rad
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} Pose3d;
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typedef struct {
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double x; //* unit: m
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double y;
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double theta;
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} Pose2d;
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}
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#endif //GEOMETRY_H
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