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orb.hpp
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orb.hpp
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#ifndef ORB_H
#define ORB_H
#include <cmath>
typedef void *ObjHandle;
const double pi = 3.14159;
typedef struct Vector3 {
double x;
double y;
double z;
Vector3();
Vector3(double a, double b, double c);
} Vector3;
double norm3(Vector3 v);
Vector3 cross(const Vector3& a, const Vector3& b);
Vector3 operator*(const double& c, Vector3 const& rhs);
Vector3 operator+(Vector3 const& lhs, Vector3 const& rhs);
struct Quaternion {
double w;
double x;
double y;
double z;
Quaternion();
Quaternion(double a, double b, double c, double d);
Quaternion normalize() const;
Quaternion conj() const;
Quaternion inv() const ;
};
Quaternion operator+(const Quaternion& lhs, const Quaternion& rhs);
Quaternion operator*(const double& c, const Quaternion& rhs);
Quaternion operator*(const Quaternion& lhs, const Quaternion& rhs);
struct LinearStateVector {
// Linear position
Vector3 r;
// Linear Velocities
Vector3 v;
};
// Operator Overloads
LinearStateVector operator*(const double& c, const LinearStateVector& rhs);
LinearStateVector operator+(LinearStateVector const& lhs, LinearStateVector const& rhs);
typedef struct AngularStateVector {
// Angular Position Quaternion
Quaternion q;
// Angular Velocities
Vector3 omega;
} AngularStateVector;
AngularStateVector operator*(const double& c, const AngularStateVector& rhs);
AngularStateVector operator+(const AngularStateVector& lhs, const AngularStateVector& rhs);
typedef struct PMI {
// Principle moments of Inertia
double Ix;
double Iy;
double Iz;
} PMI;
struct ForceData {
Vector3 pos; // Position in body frame
Vector3 F; // direction in body frmae
};
void print_state(LinearStateVector state);
void print_state(AngularStateVector state);
void print_vector(Vector3 vec);
void QuaternionToEuler(const Quaternion q, double& roll, double& pitch, double& yaw);
Vector3 rotate_vector(const Quaternion q, Vector3 v);
#endif