added geometry datatypes

Author: kvedala

geometry/geometry_datatypes.h

@@ -0,0 +1,99 @@
+/**
+ * @addtogroup quaternions Library for 3D Vectors & Quaternions
+ * @{
+ * @file
+ * @brief Generic header that provides data types for 3D vectors and quaternions
+ * @author Krishna Vedala
+ */
+
+#ifndef __LIBQUAT_H_
+#define __LIBQUAT_H_
+
+/** Minimum recognizable value. Any value less than this is considered to be
+ * @f$=0@f$ */
+#define EPSILON 1e-9
+
+/**
+ * @addtogroup vec_3d 3D Vector operations
+ * @{
+ */
+/** 3D vector type */
+typedef struct vec_3d_
+{
+    float x; /**< X co-ordinate */
+    float y; /**< Y co-ordinate */
+    float z; /**< Z co-ordinate */
+} vec_3d;
+/** @} */
+
+/**
+ * @addtogroup matrix Matrix operations
+ * @{
+ */
+/** A 3x3 Matrix type definition */
+typedef struct mat_3x3_
+{
+    union
+    { /**< 3 element row 1 */
+        float row1[3];
+        vec_3d vec1;
+    };
+    union
+    { /**< 3 element row 2 */
+        float row2[3];
+        vec_3d vec2;
+    };
+    union
+    { /**< 3 element row 3 */
+        float row3[3];
+        vec_3d vec3;
+    };
+} mat_3x3;
+/** @} */
+
+/** @addtogroup quats 3D Quaternion operations
+ * @{
+ */
+/** a Quaternion type represented using a scalar \f$w\f$ or \f$q_0\f$ and a
+ * 3D vector \f$\left(q_1,q_2,q_3\right)\f$
+ */
+typedef struct quaternion_
+{
+    float w; /**< real part of quaternion */
+    /**< dual part of quaternion */
+    union
+    {
+        vec_3d dual; /**< can be a 3D vector */
+        /** or individual values */
+        struct
+        {
+            float q1, q2, q3;
+        };
+    };
+} quaternion;
+
+/** 3D Euler or Tait-Bryan angles (in radian) */
+typedef struct euler_
+{
+    float roll;  /**< or bank \f$\phi\f$ = rotation about X axis */
+    float pitch; /**< or elevation \f$\theta\f$ = rotation about Y axis */
+    float yaw;   /**< or heading \f$\psi\f$ = rotation about Z axis */
+} euler;
+
+/** @} */
+
+/** @addtogroup dual_quats 3D Dual-Quaternion operations
+ * @{
+ */
+/** a dual quaternion type */
+typedef struct dual_quat_
+{
+    quaternion real; /**< real part of dual quaternion */
+    quaternion dual; /**< dual part of dual quaternion */
+} dual_quat;
+
+/** @} */
+
+#endif  // __LIBQUAT_H_
+
+/** @} */