#ifndef _QUATERNION_H_
#define _QUATERNION_H_

typedef struct _MagCaliParam
{
	float xOffset;
	float yOffset;
	float zOffset;
	float xScale;
	float yScale;
	float zScale;
}MagCaliParam;

typedef struct _Quaternion
{
	float w,x,y,z;
}Quaternion;


typedef struct _Vector3
{
	float x,y,z;
}Vector3;

typedef struct _EulerAngles{
	float Yaw;
	float Roll;
	float Pitch;
}EulerAngles;

typedef struct _MVector3
{
	float v[3];
}MVector3;


typedef struct _Matrix3
{
	float m[3][3];
}Matrix3;



#ifdef __cplusplus  
extern "C"{  

/*给定一个绕单位向量（x,y,z）绕此单位向量旋转angle角度，创建四元数*/
Quaternion CreateQuaternion(float angle,Vector3 v);

/*计算两个四元数相乘，返回相乘的结果*/
Quaternion QuaternionMulti(Quaternion q1,Quaternion q2);

/*给定四元数求该四元数的共轭四元数*/
Quaternion QuaternionConjugate(Quaternion q1);

/*给定四元数求该四元数的模*/
float QuaternionMod(Quaternion q1);

/*给定四元数求该四元数的逆*/
Quaternion QuaternionInversion(Quaternion q1);

void DisplayQuaternion(Quaternion q);

Quaternion EulerAnglesToQuaternion(EulerAngles e);

//EulerAngles QuaternionToEulerAngles(Quaternion q,bool useRefer);

void DisplayEulerAngles(EulerAngles e);

//void SetEulerAngles(EulerAngles *e,float Yaw,float Pitch,float Roll);

EulerAngles SetEulerAngles(float Yaw,float Pitch,float Roll);

/*判断两个四元数是否相等，相等返回ture，否则返回false*/
bool QuaternionEqual(Quaternion q1,Quaternion q2);


Vector3 SetVector3(float x,float y,float z);

Quaternion CreateQuaternionByGyro(float gx,float gy,float gz);


Matrix3 QuaternionToMatrix(Quaternion q);


MVector3 ComputeRotate(Matrix3 mMatrix,MVector3 vec);

EulerAngles MathQuaternionToEulerAngles(Quaternion q);



}

#else

/*给定一个绕单位向量（x,y,z）绕此单位向量旋转angle角度，创建四元数*/
Quaternion CreateQuaternion(float angle,Vector3 v);

/*计算两个四元数相乘，返回相乘的结果*/
Quaternion QuaternionMulti(Quaternion q1,Quaternion q2);

/*给定四元数求该四元数的共轭四元数*/
Quaternion QuaternionConjugate(Quaternion q1);

/*给定四元数求该四元数的模*/
float QuaternionMod(Quaternion q1);

/*给定四元数求该四元数的逆*/
Quaternion QuaternionInversion(Quaternion q1);

void DisplayQuaternion(Quaternion q);

Quaternion EulerAnglesToQuaternion(EulerAngles e);

//EulerAngles QuaternionToEulerAngles(Quaternion q,bool useRefer);

void DisplayEulerAngles(EulerAngles e);

void SetEulerAngles(EulerAngles *e,float Yaw,float Pitch,float Roll);

//EulerAngles SetEulerAngles(float Yaw,float Pitch,float Roll);

/*判断两个四元数是否相等，相等返回ture，否则返回false*/
//bool QuaternionEqual(Quaternion q1,Quaternion q2);


Vector3 SetVector3(float x,float y,float z);

Quaternion CreateQuaternionByGyro(float gx,float gy,float gz);


Matrix3 QuaternionToMatrix(Quaternion q);


MVector3 ComputeRotate(Matrix3 mMatrix,MVector3 vec);

EulerAngles MathQuaternionToEulerAngles(Quaternion q);


#endif




#endif