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| author | Justin Berger <jdavidberger@gmail.com> | 2018-07-01 04:13:34 +0000 |
|---|---|---|
| committer | Justin Berger <jdavidberger@gmail.com> | 2018-07-01 04:13:34 +0000 |
| commit | 47141c873ffd3d7af62bfba40b1adbcce0df6574 (patch) | |
| tree | 245575a52f46b7fdd163b264eb17ee74863d0c28 /redist/linmath.h | |
| parent | 70ac578a3edfdac2223bb0419445621cfb153c72 (diff) | |
| download | libsurvive-47141c873ffd3d7af62bfba40b1adbcce0df6574.tar.gz libsurvive-47141c873ffd3d7af62bfba40b1adbcce0df6574.tar.bz2 | |
Finalized reading in and transforming of accel/gyro data
Diffstat (limited to 'redist/linmath.h')
| -rw-r--r-- | redist/linmath.h | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/redist/linmath.h b/redist/linmath.h index aff46a3..f961568 100644 --- a/redist/linmath.h +++ b/redist/linmath.h @@ -139,6 +139,12 @@ LINMATH_EXPORT void ApplyPoseToPose(LinmathPose *pout, const LinmathPose *lhs_po LINMATH_EXPORT void InvertPose(LinmathPose *poseout, const LinmathPose *pose_in); LINMATH_EXPORT void PoseToMatrix(FLT *mat44, const LinmathPose *pose_in); + +// Given num_pts in coordinate system B, and in coordinate system A, find the optimal RHS rotation +// which transforms from B to A. +// +// This assumes that the space A and B share an origin. +LINMATH_EXPORT void KabschCentered(LinmathQuat B2Atx, const FLT *ptsA, const FLT *ptsB, int num_pts); // Matrix Stuff typedef struct { |