/** @file

    @brief Header

    Must be c-safe!

    @date 2014

    @author

    Sensics, Inc.

    <http://sensics.com/osvr>

*/

/*

// Copyright 2014 Sensics, Inc.

//

// Licensed under the Apache License, Version 2.0 (the "License");

// you may not use this file except in compliance with the License.

// You may obtain a copy of the License at

//

//     http://www.apache.org/licenses/LICENSE-2.0

//

// Unless required by applicable law or agreed to in writing, software

// distributed under the License is distributed on an "AS IS" BASIS,

// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

// See the License for the specific language governing permissions and

// limitations under the License.

*/

#ifndef INCLUDED_Pose3C_h_GUID_066CFCE2_229C_4194_5D2B_2602CCD5C439

#define INCLUDED_Pose3C_h_GUID_066CFCE2_229C_4194_5D2B_2602CCD5C439

/* Internal Includes */

/* Internal Includes */

#include <osvr/Util/APIBaseC.h>

#include <osvr/Util/Vec3C.h>

#include <osvr/Util/QuaternionC.h>

/* Library/third-party includes */

/* none */

/* Standard includes */

/* none */

OSVR_EXTERN_C_BEGIN

/** @addtogroup UtilMath

    @{

*/

/** @brief A structure defining a 3D (6DOF) rigid body pose: translation and

    rotation.

*/

typedef struct OSVR_Pose3 {

    /** @brief Position vector */

    OSVR_Vec3 translation;

    /** @brief Orientation as a unit quaternion */

    OSVR_Quaternion rotation;

} OSVR_Pose3;

/** @brief Set a pose to identity */

OSVR_INLINE void osvrPose3SetIdentity(OSVR_Pose3 *pose) {

    osvrQuatSetIdentity(&(pose->rotation));

    osvrVec3Zero(&(pose->translation));

}

/** @} */

OSVR_EXTERN_C_END

#endif