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/*
$License:
Copyright 2011 InvenSense, Inc.
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 INVENSENSE_INV_MATH_FUNC_H__
#define INVENSENSE_INV_MATH_FUNC_H__
#define SIGNM(k)((int)(k)&1?-1:1)
#ifdef __cplusplus
extern "C" {
#endif
long inv_q29_mult(long a, long b);
long inv_q30_mult(long a, long b);
void inv_q_mult(const long *q1, const long *q2, long *qProd);
void inv_q_invert(const long *q, long *qInverted);
void inv_quaternion_to_rotation(const long *quat, long *rot);
unsigned char *inv_int32_to_big8(long x, unsigned char *big8);
long inv_big8_to_int32(const unsigned char *big8);
unsigned char *inv_int16_to_big8(short x, unsigned char *big8);
float inv_matrix_det(float *p, int *n);
void inv_matrix_det_inc(float *a, float *b, int *n, int x, int y);
float inv_wrap_angle(float ang);
float inv_angle_diff(float ang1, float ang2);
#ifdef __cplusplus
}
#endif
#endif // INVENSENSE_INV_MATH_FUNC_H__
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