work on beacon

[aversive.git] / modules / base / math / geometry / vect_base.h

diff --git a/modules/base/math/geometry/vect_base.h b/modules/base/math/geometry/vect_base.h
index b9dda3f..50a5910 100755 (executable)
--- a/modules/base/math/geometry/vect_base.h
+++ b/modules/base/math/geometry/vect_base.h
@@ -1,34 +1,57 @@
+/*
+ *  Copyright Droids Corporation (2009)
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ *  Revision : $Id: f16.h,v 1.6.4.3 2008-05-10 15:06:26 zer0 Exp $
+ *
+ */
+
+#ifndef _VECT_BASE_H_
+#define _VECT_BASE_H_
+
 typedef struct _vect_t {
-  int32_t x;
-  int32_t y;
-}vect_t;
+  float x;
+  float y;
+} vect_t;
 
 typedef struct _point_t {
-  int32_t x;
-  int32_t y;
-}point_t;
-
+  float x;
+  float y;
+} point_t;
 
- 
 /* Return scalar product */
-int32_t 
-vect_pscal(vect_t *v, vect_t *w);
+float vect_pscal(vect_t *v, vect_t *w);
 
 /* Return Z of vectorial product */
-int32_t 
-vect_pvect(vect_t *v, vect_t *w);
+float vect_pvect(vect_t *v, vect_t *w);
 
 /* Return scalar product */
-int8_t 
-vect_pscal_sign(vect_t *v, vect_t *w);
+int8_t vect_pscal_sign(vect_t *v, vect_t *w);
 
 /* Return Z of vectorial product */
-int8_t 
-vect_pvect_sign(vect_t *v, vect_t *w);
+int8_t vect_pvect_sign(vect_t *v, vect_t *w);
 
 /* norm of a vector */
-float vect_norm(vect_t *v);
+float xy_norm(float x1, float y1, float x2, float y2);
+float pt_norm(const point_t *p1, const point_t *p2);
+float vect_norm(const vect_t *v);
 void vect_rot_trigo(vect_t *v);
 void vect_rot_retro(vect_t *v);
 float vect_get_angle(vect_t *v, vect_t *w);
-  
+
+void vect_resize(vect_t *v, float l);
+
+#endif /* _VECT_BASE_H_ */