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* Added dq_ch_plane_point.

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bobbens committed Jun 8, 2011
1 parent 8f860d5 commit 72305348dec13f2cba5510be290a672b2d08f25e
Showing with 14 additions and 0 deletions.
  1. +6 −0 dq.c
  2. +8 −0 dq.h
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6 dq.c
@@ -401,6 +401,12 @@ int dq_ch_unit( const dq_t Q )
}
int dq_ch_point_plane( const dq_t P, const dq_t Q )
{
return (fabs(P[1]*Q[4]+P[2]*Q[5]+P[3]*Q[6]-P[7]) < DQ_PRECISION);
}
int dq_ch_cmp( const dq_t P, const dq_t Q )
{
return dq_ch_cmpV( P, Q, DQ_PRECISION );
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8 dq.h
@@ -565,6 +565,14 @@ void dq_op_extract( double R[3][3], double d[3], const dq_t Q );
* @return 1 if is a unit dual quaternion or 0 otherwise.
*/
int dq_ch_unit( const dq_t Q );
/**
* @brief Checks to see if a point Q is on the plane P.
*
* @param[in] P Plane to check if point is on it.
* @param[in] Q Point to check if is on plane P.
* @return 1 if point Q is on plane P.
*/
int dq_ch_point_plane( const dq_t P, const dq_t Q );
/**
* @brief Compares two dual quaternions.
*

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