9 #ifndef _LIBALMATH_ALMATH_TOOLS_ALTRANSFORMHELPERS_H_
10 #define _LIBALMATH_ALMATH_TOOLS_ALTRANSFORMHELPERS_H_
12 #include <almath/types/alposition3d.h>
13 #include <almath/types/alposition6d.h>
14 #include <almath/types/alrotation.h>
15 #include <almath/types/alrotation3d.h>
16 #include <almath/types/alvelocity6d.h>
17 #include <almath/types/altransform.h>
18 #include <almath/types/alaxismask.h>
19 #include <almath/types/alpose2d.h>
20 #include <almath/types/alquaternion.h>
87 void velocityExponentialInPlace(
88 const Velocity6D& pVel,
130 const Velocity6D& pVelIn,
131 Velocity6D& pVelOut);
172 const Position6D& pPosIn,
173 Position6D& pPosOut);
176 void changeReferencePosition3DInPlace(
178 Position3D& pPosOut);
181 void changeReferenceTransposePosition3DInPlace(
183 Position3D& pPosOut);
215 const Position3D& pPosIn,
216 Position3D& pPosOut);
240 const Position3D& pPosIn,
241 Position3D& pPosOut);
265 const Transform& pTIn,
290 const Transform& pTIn,
333 const Velocity6D& pVelIn,
334 Velocity6D& pVelOut);
375 const Position6D& pPosIn,
376 Position6D& pPosOut);
389 const Transform& pTIn1,
390 const Transform& pTIn2,
406 const Transform& pTIn1,
407 const Transform& pTIn2,
408 const float& pVal = 0.5f);
429 const Rotation& pRot,
450 const Rotation& pRot,
451 const Position3D& pPos);
471 const Position3D& pPosition,
472 Transform& pTransform);
516 const Rotation& pRotation,
517 Transform& pTransform);
546 const Transform& pTransform,
547 Rotation& pRotation);
649 const Transform& pCurrent,
650 const Transform& pTarget,
663 const Transform& pCurrent,
664 const Transform& pTarget);
735 const Position3D& pPos,
749 const Position3D& pPos);
759 const Position3D& pPos,
780 const float& pTheta);
784 const Position3D& pPos);
792 Transform axisRotationProjection(
793 const Position3D& pPos,
794 const Transform& pT);
803 Rotation axisRotationProjection(
804 const Position3D& pAxis,
805 const Rotation& pRot);
814 void axisRotationProjectionInPlace(
815 const Position3D& pPos,
824 void axisRotationProjectionInPlace(
825 const Position3D& pPos,
829 void orthogonalSpace(
830 const Position3D& pPos,
833 Transform orthogonalSpace(
const Position3D& pPos);
835 Transform transformFromQuaternion(
836 const Quaternion& pQua);
838 Quaternion quaternionFromTransform(
839 const Transform& pT);
843 #endif // _LIBALMATH_ALMATH_TOOLS_ALTRANSFORMHELPERS_H_