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/* Copyright (c) 2014 The Chromium OS Authors. All rights reserved.
* Use of this source code is governed by a BSD-style license that can be
* found in the LICENSE file.
*/
/* Header file for common math functions. */
#ifndef __CROS_MATH_UTIL_H
#define __CROS_MATH_UTIL_H
typedef float matrix_3x3_t[3][3];
typedef int vector_3_t[3];
/* Some useful math functions. */
#define SQ(x) ((x) * (x))
#define ABS(x) ((x) >= 0 ? (x) : -(x))
/**
* Find acos(x) in degrees. Argument is clipped to [-1.0, 1.0].
*
* @param x
*
* @return acos(x) in degrees.
*/
float arc_cos(float x);
/**
* Find the cosine of the angle between two vectors.
*
* @param v1
* @param v2
*
* @return Cosine of the angle between v1 and v2.
*/
float cosine_of_angle_diff(const vector_3_t v1, const vector_3_t v2);
/**
* Rotate vector v by rotation matrix R.
*
* @param v Vector to be rotated.
* @param R Rotation matrix.
* @param res Resultant vector.
*/
void rotate(const vector_3_t v, const matrix_3x3_t R,
vector_3_t res);
#endif /* __CROS_MATH_UTIL_H */
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