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Linux Cross Reference
Tina4/src/vision/point3/pnt3_trans.c

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  1 /**@(#)
  2 **/
  3 /* transpoint.c
  4  * 
  5  */
  6 
  7 #include <tina/sys.h>
  8 #include <tina/sysfuncs.h>
  9 #include <tina/math.h>
 10 #include <tina/mathfuncs.h>
 11 #include <tina/vision.h>
 12 
 13 void    point3_transform(Point3 * point, Transform3 trans)
 14 {
 15     if (point == NULL)
 16         return;
 17 
 18     point->p = trans3_pos(trans, point->p);
 19 }
 20 
 21 Bool    point3_coincident(Point3 * p1, Point3 * p2, double poserror)
 22 {
 23     if (p1 == NULL || p2 == NULL)
 24         return (false);
 25 
 26     if (vec3_dist(p1->p, p2->p) < poserror)
 27         return (true);
 28     else
 29         return (false);
 30 }
 31 
 32 Bool    point3_within_error(Point3 * p1, Point3 * p2)
 33 {
 34     Iso_error *iso1;
 35     Iso_error *iso2;
 36 
 37     if (p1 == NULL || p2 == NULL)
 38         return (false);
 39 
 40     iso1 = (Iso_error *) prop_get(p1->props, ISO_ERROR);
 41     iso2 = (Iso_error *) prop_get(p2->props, ISO_ERROR);
 42 
 43     if (iso1 == NULL || iso2 == NULL)
 44         return (false);
 45 
 46     return (point3_coincident(p1, p2, iso1->pos + iso2->pos));
 47 }
 48 

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