Shao Rui
/
Kalman
1
Diff: defining.h
- Revision:
- 0:c55310328157
diff -r 000000000000 -r c55310328157 defining.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/defining.h Fri Feb 07 11:34:24 2020 +0000 @@ -0,0 +1,80 @@ +#ifndef __defining__ +#define __defining__ + +/*===============================================================*/ +/*define type +*/ + + +/*bool type*/ +enum Bool_{ + False=0, + True=1, +}; +typedef enum Bool_ Bool; + + +/*矩阵,向量,四元数*/ +typedef double (*Mat3)[3]; +typedef double *Vec3,*Quat,*Vec,*Mat,*Point,*Point3; +typedef const double (*cMat3)[3]; +typedef const double *cVec3,*cQuat,*cVec,*cMat,*cPoint,*cPoint3; +typedef int (*nMat3)[3]; +typedef int *nVec3,*nQuat,*nVec,*nMat,*nPoint,*nPoint3; +typedef const int (*cnMat3)[3]; +typedef const int *cnVec3,*cnQuat,*cnVec,*cnMat,*cnPoint,*cnPoint3; +/*复数*/ +typedef struct Complex_{ + double real; + double img; +}Complex; + + +/*===============================================================*/ +/*宏定义 +*/ +#ifndef NULL +#define NULL 0 +#endif +#ifndef MAX_PATH +#define MAX_PATH 260 +#endif +/* +#ifndef UNUSED +#define UNUSED(x) (x=x) +#endif */ +#ifndef min +#define min(a,b) (((a) < (b)) ? (a) : (b)) +#endif +#ifndef max +#define max(a,b) (((a) > (b)) ? (a) : (b)) +#endif +#ifndef MGet +#define MGet(p,i,j,n) (p[(i)*(n)+(j)]) /*n列矩阵的(i,j)元素*/ +#endif + + +/*===============================================================*/ +/*数学常数宏 + pi - 圆周率 + pi2 - pi的两倍 + ee - 自然对数底 +*/ + +/*创建时间: 20061122 + 最近更改时间:20070525 + Copyright 2006-2010 SSTC +*/ +#ifndef pi +#define pi 3.1415926535897932384626433832795 +#endif +#ifndef pi2 +#define pi2 6.2831853071795864769252867665590 +#endif +#ifndef ee +#define ee 2.7182818284590455348848081484903 +#endif + + + +#endif