/home/xslaby/phantom/user/libphantom/libphantom.h

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#ifndef PHM_LIBPHANTOM_H
#define PHM_LIBPHANTOM_H

#include <math.h>
#include <string.h>

#include <sys/time.h>

#define PHM_LIB_MAX_FORCE       (12.0f) 
#define PHM_DEFAULT_MAX_FORCE   (0.0f)  
#define PHM_EBIGSPEED   2               
#define PHM_EBIGFORCE   4               
#define PHM_EOVERHEAT   8               
#define PHM_ERROR       (PHM_EBIGSPEED|PHM_EBIGFORCE|PHM_EOVERHEAT)

#define PHM_BUTTON      16
#ifdef PHM_IN_LIBPHANTOM
#define PHM_ENABLED     32
#define PHM_RUNNING     64
#endif

#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */

struct phantom_pos {
        struct timeval stamp;           
        float pos[3];                   
        float pos_enc[3];               
        float alpha;                    
        float beta;
        float gamma;
        float speed[3];                 
};

struct phantom_info {
        struct phantom_pos actual;
        float force[3];
};

struct phantom_device {
        unsigned long iterations;               
        unsigned int status;                    
        struct timeval button;                  
};

extern struct phantom_device *phm_open(const char *devname);
extern int phm_start(struct phantom_device *dev, unsigned int rate);
extern void phm_stop(struct phantom_device *dev);
extern int phm_reset(struct phantom_device *dev);
extern void phm_wait(struct phantom_device *dev);
extern void phm_force_clamp_max(float force[3], float max_force);
extern struct phantom_info *phm_switch(struct phantom_device *dev);

static inline int phm_button_state(const struct phantom_device *dev)
{
        return dev->status & PHM_BUTTON;
}

/* spherical */

extern float *phm_to_spherical(float in[3], float out[3]);
extern float *phm_to_cartesian(float in[3], float out[3]);
extern float *phm_interpolate(float inB[3], float inE[3], float out[3],
                float alpha);

/* stylus */

extern void phm_get_stylus_matrix(float *m,
                float a, float b, float x, float y, float z);

extern void phm_get_stylus_vector(float *vector_out,
                const float *m, const float *vector_in);

/* filter */

extern void phm_filter_force(float force_out[3], float force_in[3]);
extern void phm_filter_init(void);
extern void phm_filter_1D_recursive(float force_out[3], float alpha,
                float force_in[3], float force_old[3]);

static inline void phm_filter_2D_recursive(float force_out[3], float r, float k,
                float force_in[3], float force_old[3], float force_old1[3])
{
        unsigned int i;

        for (i = 0; i < 3; i++)
                force_out[i] = force_in[i] + 2 * r * cos(k) * force_old[i] -
                        r * r * force_old1[i];

        memcpy(force_old1, force_old, sizeof(float) * 3);
        memcpy(force_old, force_out, sizeof(float) * 3);
}

static inline void phm_music_2D_recursive(float force_out[3],
                float k, float force_in[3], float force_old[3])
{
        unsigned int i;

        for (i = 0; i < 3; i++)
                force_out[i] = force_in[i] + k * force_in[i];

        memcpy(force_old, force_out, sizeof(float) * 3);
}

#ifdef __cplusplus
}
#endif /* __cplusplus */

#endif

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