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#include <sys/types.h> |
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#include <sys/stat.h> |
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inline double roundMe( double x ){ |
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return ( x >= 0 ) ? floor( x + 0.5 ) : ceil( x - 0.5 ); |
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} |
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struct coords{ |
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double pos[3]; // cartesian coords |
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double q[4]; // the quanternions |
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double matDet3(double a[3][3]); |
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void invertMat3(double a[3][3], double b[3][3]); |
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void matVecMul3(double m[3][3], double inVec[3], double outVec[3]); |
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double roundMe(double x); |
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int main(argc, argv) |
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int argc; |
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default: |
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(void)fprintf(stderr, "Bad option \"-%s\"\n", current_flag); |
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fprintf(stderr, "Bad option \"-%c\"\n", current_flag); |
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usage(); |
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} |
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j++; |
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outVec[1] = m[1][0]*a0 + m[1][1]*a1 + m[1][2]*a2; |
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outVec[2] = m[2][0]*a0 + m[2][1]*a1 + m[2][2]*a2; |
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} |
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double roundMe( double x ){ |
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return ( x >= 0 ) ? floor( x + 0.5 ) : ceil( x - 0.5 ); |
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} |