maliput_sys/math/
mod.rs

1// BSD 3-Clause License
2//
3// Copyright (c) 2024, Woven by Toyota.
4// All rights reserved.
5//
6// Redistribution and use in source and binary forms, with or without
7// modification, are permitted provided that the following conditions are met:
8//
9// * Redistributions of source code must retain the above copyright notice, this
10//   list of conditions and the following disclaimer.
11//
12// * Redistributions in binary form must reproduce the above copyright notice,
13//   this list of conditions and the following disclaimer in the documentation
14//   and/or other materials provided with the distribution.
15//
16// * Neither the name of the copyright holder nor the names of its
17//   contributors may be used to endorse or promote products derived from
18//   this software without specific prior written permission.
19//
20// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
21// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
22// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
23// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
24// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
25// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
26// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
27// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
28// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
29// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
30
31#[cxx::bridge(namespace = "maliput::math")]
32pub mod ffi {
33    unsafe extern "C++" {
34        include!("cxx_utils/error_handling.h");
35        include!("math/math.h");
36
37        #[namespace = "maliput::math"]
38        type Vector3;
39        fn Vector3_new(x: f64, y: f64, z: f64) -> UniquePtr<Vector3>;
40        fn x(self: &Vector3) -> f64;
41        fn y(self: &Vector3) -> f64;
42        fn z(self: &Vector3) -> f64;
43        fn norm(self: &Vector3) -> f64;
44        fn normalize(self: Pin<&mut Vector3>);
45        fn Vector3_dot(v: &Vector3, w: &Vector3) -> f64;
46        fn Vector3_cross(v: &Vector3, w: &Vector3) -> UniquePtr<Vector3>;
47        fn Vector3_equals(v: &Vector3, w: &Vector3) -> bool;
48        fn Vector3_to_str(v: &Vector3) -> String;
49
50        type Vector4;
51        fn Vector4_new(x: f64, y: f64, z: f64, w: f64) -> UniquePtr<Vector4>;
52        fn x(self: &Vector4) -> f64;
53        fn y(self: &Vector4) -> f64;
54        fn z(self: &Vector4) -> f64;
55        fn w(self: &Vector4) -> f64;
56        fn norm(self: &Vector4) -> f64;
57        fn normalize(self: Pin<&mut Vector4>);
58        fn Vector4_dot(v: &Vector4, w: &Vector4) -> f64;
59        fn Vector4_equals(v: &Vector4, w: &Vector4) -> bool;
60        fn Vector4_to_str(v: &Vector4) -> String;
61
62        type Matrix3;
63        #[allow(clippy::too_many_arguments)]
64        fn Matrix3_new(
65            m00: f64,
66            m01: f64,
67            m02: f64,
68            m10: f64,
69            m11: f64,
70            m12: f64,
71            m20: f64,
72            m21: f64,
73            m22: f64,
74        ) -> UniquePtr<Matrix3>;
75        fn cofactor(self: &Matrix3, row: usize, col: usize) -> f64;
76        fn determinant(self: &Matrix3) -> f64;
77        fn is_singular(self: &Matrix3) -> bool;
78        fn Matrix3_row(m: &Matrix3, index: usize) -> UniquePtr<Vector3>;
79        fn Matrix3_col(m: &Matrix3, index: usize) -> UniquePtr<Vector3>;
80        fn Matrix3_cofactor_matrix(m: &Matrix3) -> UniquePtr<Matrix3>;
81        fn Matrix3_transpose(m: &Matrix3) -> UniquePtr<Matrix3>;
82        fn Matrix3_equals(m: &Matrix3, other: &Matrix3) -> bool;
83        fn Matrix3_adjoint(m: &Matrix3) -> UniquePtr<Matrix3>;
84        fn Matrix3_operator_mul(m: &Matrix3, other: &Matrix3) -> UniquePtr<Matrix3>;
85        fn Matrix3_inverse(m: &Matrix3) -> UniquePtr<Matrix3>;
86        fn Matrix3_operator_sum(m: &Matrix3, other: &Matrix3) -> UniquePtr<Matrix3>;
87        fn Matrix3_operator_sub(m: &Matrix3, other: &Matrix3) -> UniquePtr<Matrix3>;
88        fn Matrix3_operator_divide_by_scalar(m: &Matrix3, scalar: f64) -> UniquePtr<Matrix3>;
89        fn Matrix3_to_str(m: &Matrix3) -> String;
90
91        type Quaternion;
92        fn Quaternion_new(w: f64, x: f64, y: f64, z: f64) -> UniquePtr<Quaternion>;
93        fn w(self: &Quaternion) -> f64;
94        fn x(self: &Quaternion) -> f64;
95        fn y(self: &Quaternion) -> f64;
96        fn z(self: &Quaternion) -> f64;
97        fn dot(self: &Quaternion, other: &Quaternion) -> f64;
98        fn AngularDistance(self: &Quaternion, other: &Quaternion) -> f64;
99        fn norm(self: &Quaternion) -> f64;
100        fn normalize(self: Pin<&mut Quaternion>);
101        fn squared_norm(self: &Quaternion) -> f64;
102        fn Quaternion_vec(q: &Quaternion) -> UniquePtr<Vector3>;
103        fn Quaternion_coeffs(q: &Quaternion) -> UniquePtr<Vector4>;
104        fn Quaternion_Inverse(q: &Quaternion) -> UniquePtr<Quaternion>;
105        fn Quaternion_conjugate(q: &Quaternion) -> UniquePtr<Quaternion>;
106        fn Quaternion_ToRotationMatrix(q: &Quaternion) -> UniquePtr<Matrix3>;
107        fn Quaternion_TransformVector(q: &Quaternion, v: &Vector3) -> UniquePtr<Vector3>;
108        fn Quaternion_IsApprox(q: &Quaternion, other: &Quaternion, precision: f64) -> bool;
109        fn Quaternion_equals(q: &Quaternion, other: &Quaternion) -> bool;
110        fn Quaternion_to_str(q: &Quaternion) -> String;
111
112        type RollPitchYaw;
113        fn RollPitchYaw_new(roll: f64, pitch: f64, yaw: f64) -> UniquePtr<RollPitchYaw>;
114        fn roll_angle(self: &RollPitchYaw) -> f64;
115        fn pitch_angle(self: &RollPitchYaw) -> f64;
116        fn yaw_angle(self: &RollPitchYaw) -> f64;
117        fn vector(self: &RollPitchYaw) -> &Vector3;
118        fn RollPitchYaw_set(rpy: Pin<&mut RollPitchYaw>, roll: f64, pitch: f64, yaw: f64);
119        fn RollPitchYaw_SetFromQuaternion(rpy: Pin<&mut RollPitchYaw>, q: &Quaternion);
120        fn RollPitchYaw_ToQuaternion(rpy: &RollPitchYaw) -> UniquePtr<Quaternion>;
121        fn RollPitchYaw_ToMatrix(rpy: &RollPitchYaw) -> UniquePtr<Matrix3>;
122        fn RollPitchYaw_CalcRotationMatrixDt(rpy: &RollPitchYaw, rpyDt: &Vector3) -> UniquePtr<Matrix3>;
123    }
124}
maliput_sys/math/mod.rs

maliput_sys/math/
mod.rs
