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/*
* Copyright (C) 2016 The Android Open Source Project
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef LOCATION_LBS_CONTEXTHUB_NANOAPPS_COMMON_MATH_QUAT_H_
#define LOCATION_LBS_CONTEXTHUB_NANOAPPS_COMMON_MATH_QUAT_H_
#include "common/math/mat.h"
#include "common/math/vec.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef struct Vec4 Quat;
void initQuat(Quat *q, const struct Mat33 *R);
void quatToMatrix(struct Mat33 *R, const Quat *q);
void quatNormalize(Quat *q);
#ifdef __cplusplus
}
#endif
#endif // LOCATION_LBS_CONTEXTHUB_NANOAPPS_COMMON_MATH_QUAT_H_
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