/***************************************************************************
 *                       MatrixOperations.h							       *
 *                       -------------------	                           *
 * copyright         : (C) 2013 by Richard R. Carrillo and Niceto R. Luque *
 *						and Peter I. Corke								   * 	
 * email             : rcarrillo,nluque at ugr.es                          *
 ***************************************************************************/

/***************************************************************************
 *   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 3 of the License, or     *
 *   (at your option) any later version.                                   *
 ***************************************************************************/

 /*! 
 *\brief Simple vector/matrix maths library.
 *  Note: All vectors and matrices are passed by reference.
 *
 *
 */

#ifndef	_vmath_h_
#define	_vmath_h_
typedef struct vector {
	double	x, y, z;
} Vect;

typedef struct matrix {
	Vect	n, o, a;
} Rot;

typedef struct homogeneous_matrix {
	Vect	n, o, a, p;
} Transform;
void	vect_cross (Vect *r, Vect *a, Vect *b);
double	vect_dot (Vect *a, Vect *b);
void	vect_add (Vect *r, Vect *a, Vect *b);
void	scal_mult (Vect *r, Vect *a, double s);
void	rot_vect_mult (Vect *r, Rot *m, Vect *v);
void	rot_trans_vect_mult (Vect *r, Rot *m, Vect *v);
void	mat_vect_mult (Vect *r, double *m, Vect *v);
void	rot_print(char *s, Rot *m);
void	vect_print(char *s, Vect *v);
#endif
