61 lines
1.7 KiB
C
61 lines
1.7 KiB
C
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/** \file math.h
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* Copyright (c) Microsoft Corporation. All rights reserved.
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* Licensed under the MIT License.
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* Kinect For Azure SDK.
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*/
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#ifndef K4AMATH_H
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#define K4AMATH_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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void math_transpose_3x3(const float in[3 * 3], float out[3 * 3]);
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void math_negate_3(const float in[3], float out[3]);
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void math_add_3(const float a[3], const float b[3], float out[3]);
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void math_scale_3(const float in[3], float s, float out[3]);
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void math_add_scaled_3(const float in[3], float s, float out[3]);
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float math_dot_3(const float a[3], const float b[3]);
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void math_mult_Ax_3x3(const float A[3 * 3], const float x[3], float out[3]);
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void math_mult_Atx_3x3(const float A[3 * 3], const float x[3], float out[3]);
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void math_mult_AB_3x3x3(const float A[3 * 3], const float B[3 * 3], float out[3 * 3]);
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/** Evaluates a polynomial up to degree 3 at x
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*
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* \param x
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* value used in evaluation
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*
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* \param coef
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* coefficients (4-dim vector)
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* coef[3] * x^3 + coef[2] * x^2 + coef[1] * x + coef[0]
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*
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* \return The value of polynomial at x
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*/
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float math_eval_poly_3(float x, const float coef[4]);
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/** out = A*x + b*/
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void math_affine_transform_3(const float A[3 * 3], const float x[3], const float b[3], float out[3]);
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/** out = A*x + B*x^2 + b
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* x^2 is the element-wise square of the vector x, no cross-terms are involved in this operation
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*/
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void math_quadratic_transform_3(const float A[3 * 3],
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const float B[3 * 3],
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const float x[3],
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const float b[3],
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float out[3]);
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#ifdef __cplusplus
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}
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#endif
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#endif /* K4AMATH_H */
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