RealTimeCameraTracking/GeometryTypes.h at master · a554b554/RealTimeCameraTracking · GitHub

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//
//  GeometryTypes.h
//
//
//  Created by DarkTango on 4/13/15.
//
//

#ifndef Example_MarkerBasedAR_GeometryTypes_hpp
#define Example_MarkerBasedAR_GeometryTypes_hpp

struct Matrix44
{
    union
    {
        float data[16];
        float mat[4][4];
    };

    Matrix44 getTransposed() const;
    Matrix44 getInvertedRT() const;
    static Matrix44 identity();
};

struct Matrix33
{
    union
    {
        float data[9];
        float mat[3][3];
    };

    static Matrix33 identity();
    Matrix33 getTransposed() const;
};

struct Vector4
{
    float data[4];
};

struct Vector3
{
    float data[3];

    static Vector3 zero();
    Vector3 operator-() const;
};

struct Transformation
{
    Transformation();
    Transformation(const Matrix33& r, const Vector3& t);

    Matrix33& r();
    Vector3&  t();

    const Matrix33& r() const;
    const Vector3&  t() const;

    Matrix44 getMat44() const;

    Transformation getInverted() const;
private:
    Matrix33 m_rotation;
    Vector3  m_translation;
};

#endif