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214 lines
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<div class="title">util.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef VNUTIL_H_INCLUDED</span></div>
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<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define VNUTIL_H_INCLUDED</span></div>
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<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> </div>
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<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include <stddef.h></span></div>
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<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> </div>
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<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "vn/int.h"</span></div>
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<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include "vn/bool.h"</span></div>
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<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include "vn/error.h"</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include "vn/math/matrix.h"</span></div>
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<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include "vn/math/vector.h"</span></div>
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<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include "vn/util/export.h"</span></div>
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<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> </div>
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<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#ifdef __cplusplus</span></div>
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<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="keyword">extern</span> <span class="stringliteral">"C"</span> {</div>
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<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> </div>
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<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#define VNAPI_MAJOR 1</span></div>
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<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#define VNAPI_MINOR 1</span></div>
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<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#define VNAPI_PATCH 0</span></div>
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<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#define VNAPI_REVISION 126</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> </div>
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<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="keywordtype">int</span> VnApi_major(<span class="keywordtype">void</span>);</div>
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<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> </div>
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<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="keywordtype">int</span> VnApi_minor(<span class="keywordtype">void</span>);</div>
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<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> </div>
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<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="keywordtype">int</span> VnApi_patch(<span class="keywordtype">void</span>);</div>
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<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> </div>
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<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="keywordtype">int</span> VnApi_revision(<span class="keywordtype">void</span>);</div>
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<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> </div>
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<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> VnError VnApi_getVersion(<span class="keywordtype">char</span> *out, <span class="keywordtype">size_t</span> outLength);</div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> </div>
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<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> uint8_t VnUtil_toUint8FromHexChar(<span class="keywordtype">char</span> c);</div>
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<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> </div>
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<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> uint8_t VnUtil_toUint8FromHexStr(<span class="keywordtype">char</span> <span class="keyword">const</span> *str);</div>
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<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> </div>
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<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> uint16_t VnUtil_toUint16FromHexStr(<span class="keywordtype">char</span> <span class="keyword">const</span> *str);</div>
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<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> </div>
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<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> <span class="keywordtype">void</span> VnUtil_toHexStrFromUint8(uint8_t toConvert, <span class="keywordtype">char</span> *output);</div>
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<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> </div>
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<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <span class="keywordtype">void</span> VnUtil_toHexStrFromUint16(uint16_t toConvert, <span class="keywordtype">char</span> *output);</div>
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<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> </div>
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<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="keywordtype">size_t</span> VnUtil_toStrFromUint16(uint16_t toConvert, <span class="keywordtype">char</span> *output);</div>
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<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> </div>
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<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> uint8_t DllExport VnUtil_countSetBitsUint8(uint8_t data);</div>
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<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> </div>
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<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> <span class="keywordtype">void</span> strFromBool(<span class="keywordtype">char</span> *out, <span class="keywordtype">bool</span> val);</div>
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<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> </div>
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<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> uint16_t <a class="code" href="group__byte_orderers.html#ga77f0b2284393666d8bdb5bdf0a69361f">stoh16</a>(uint16_t sensorOrdered);</div>
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<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> </div>
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<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> uint32_t <a class="code" href="group__byte_orderers.html#ga7a28812d3659f7af2a87b7a577b972cc">stoh32</a>(uint32_t sensorOrdered);</div>
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<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> </div>
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<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> uint64_t <a class="code" href="group__byte_orderers.html#gad993af5db1d46cc842842bdf4b9d1e97">stoh64</a>(uint64_t sensorOrdered);</div>
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<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> </div>
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<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> uint16_t <a class="code" href="group__byte_orderers.html#ga6719327d04e4fb3340ac36527b45bf80">htos16</a>(uint16_t hostOrdered);</div>
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<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> </div>
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<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> uint32_t <a class="code" href="group__byte_orderers.html#ga1e5af0d83175c5a4e3117017b48f669a">htos32</a>(uint32_t hostOrdered);</div>
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<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> </div>
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<div class="line"><a name="l00151"></a><span class="lineno"> 151</span> uint64_t <a class="code" href="group__byte_orderers.html#ga642450533d60a03348eb630b89d76495">htos64</a>(uint64_t hostOrdered);</div>
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<div class="line"><a name="l00152"></a><span class="lineno"> 152</span> </div>
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<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> <span class="keywordtype">float</span> <a class="code" href="group__byte_orderers.html#ga2d883ad9d232920fcf8505788df1c951">htosf4</a>(<span class="keywordtype">float</span> hostOrdered);</div>
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<div class="line"><a name="l00158"></a><span class="lineno"> 158</span> </div>
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<div class="line"><a name="l00163"></a><span class="lineno"> 163</span> <span class="keywordtype">double</span> <a class="code" href="group__byte_orderers.html#ga13a39e8d4dba632a0a2bbe1be2d06326">htosf8</a>(<span class="keywordtype">double</span> hostOrdered);</div>
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<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> </div>
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<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> uint16_t <a class="code" href="group__sensor_value_extractors.html#ga67046d2ccd7062c2f2e87f76ffdee825">VnUtil_extractUint16</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* pos);</div>
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<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> </div>
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<div class="line"><a name="l00188"></a><span class="lineno"> 188</span> uint32_t <a class="code" href="group__sensor_value_extractors.html#gada8600834e016d1a6198bd7df84949a8">VnUtil_extractUint32</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* pos);</div>
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<div class="line"><a name="l00189"></a><span class="lineno"> 189</span> </div>
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<div class="line"><a name="l00196"></a><span class="lineno"> 196</span> <span class="keywordtype">float</span> <a class="code" href="group__sensor_value_extractors.html#ga2b0e777f59407f501256902dcaba5325">VnUtil_extractFloat</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* pos);</div>
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<div class="line"><a name="l00197"></a><span class="lineno"> 197</span> </div>
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<div class="line"><a name="l00204"></a><span class="lineno"> 204</span> <span class="keywordtype">double</span> <a class="code" href="group__sensor_value_extractors.html#ga9abee9b7f6e11a9fbf00019e06cab73a">VnUtil_extractDouble</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* pos);</div>
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<div class="line"><a name="l00205"></a><span class="lineno"> 205</span> </div>
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<div class="line"><a name="l00206"></a><span class="lineno"> 206</span> <span class="comment">/*#if THIS_SHOULD_BE_MOVED_TO_MATH_C_PACK*/</span></div>
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<div class="line"><a name="l00207"></a><span class="lineno"> 207</span> </div>
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<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> <a class="code" href="unionvec3f.html">vec3f</a> <a class="code" href="group__sensor_value_extractors.html#ga9decf8a326fcba9319a31de0656367b3">VnUtil_extractVec3f</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* pos);</div>
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<div class="line"><a name="l00215"></a><span class="lineno"> 215</span> </div>
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<div class="line"><a name="l00222"></a><span class="lineno"> 222</span> <a class="code" href="unionvec4f.html">vec4f</a> <a class="code" href="group__sensor_value_extractors.html#gaefb159f66e04644b11cf83c1e87b9031">VnUtil_extractVec4f</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* pos);</div>
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<div class="line"><a name="l00223"></a><span class="lineno"> 223</span> </div>
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<div class="line"><a name="l00230"></a><span class="lineno"> 230</span> <a class="code" href="unionvec3d.html">vec3d</a> <a class="code" href="group__sensor_value_extractors.html#ga67803c335c0cbc25acfcc31feab84c9d">VnUtil_extractVec3d</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* pos);</div>
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<div class="line"><a name="l00231"></a><span class="lineno"> 231</span> </div>
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<div class="line"><a name="l00238"></a><span class="lineno"> 238</span> <a class="code" href="unionmat3f.html">mat3f</a> <a class="code" href="group__sensor_value_extractors.html#ga2b32e5bfd9e0bb5d5906548c2a2bf63f">VnUtil_extractMat3f</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* pos);</div>
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<div class="line"><a name="l00239"></a><span class="lineno"> 239</span> </div>
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<div class="line"><a name="l00240"></a><span class="lineno"> 240</span> <span class="comment">/*#endif*/</span></div>
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<div class="line"><a name="l00241"></a><span class="lineno"> 241</span> </div>
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<div class="line"><a name="l00242"></a><span class="lineno"> 242</span> <span class="comment">/* \} */</span></div>
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<div class="line"><a name="l00243"></a><span class="lineno"> 243</span> </div>
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<div class="line"><a name="l00244"></a><span class="lineno"> 244</span> <span class="preprocessor">#ifdef __cplusplus</span></div>
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<div class="line"><a name="l00245"></a><span class="lineno"> 245</span> }</div>
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<div class="line"><a name="l00246"></a><span class="lineno"> 246</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00247"></a><span class="lineno"> 247</span> </div>
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<div class="line"><a name="l00248"></a><span class="lineno"> 248</span> <span class="preprocessor">#endif</span></div>
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<div class="ttc" id="group__byte_orderers_html_ga6719327d04e4fb3340ac36527b45bf80"><div class="ttname"><a href="group__byte_orderers.html#ga6719327d04e4fb3340ac36527b45bf80">htos16</a></div><div class="ttdeci">uint16_t htos16(uint16_t hostOrdered)</div><div class="ttdoc">Converts a 16-bit integer in host order to sensor order. </div></div>
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<div class="ttc" id="group__byte_orderers_html_ga1e5af0d83175c5a4e3117017b48f669a"><div class="ttname"><a href="group__byte_orderers.html#ga1e5af0d83175c5a4e3117017b48f669a">htos32</a></div><div class="ttdeci">uint32_t htos32(uint32_t hostOrdered)</div><div class="ttdoc">Converts a 32-bit integer in host order to sensor order. </div></div>
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<div class="ttc" id="group__byte_orderers_html_ga13a39e8d4dba632a0a2bbe1be2d06326"><div class="ttname"><a href="group__byte_orderers.html#ga13a39e8d4dba632a0a2bbe1be2d06326">htosf8</a></div><div class="ttdeci">double htosf8(double hostOrdered)</div><div class="ttdoc">Converts an 8-byte float in host order to sensor order. </div></div>
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<div class="ttc" id="group__byte_orderers_html_ga77f0b2284393666d8bdb5bdf0a69361f"><div class="ttname"><a href="group__byte_orderers.html#ga77f0b2284393666d8bdb5bdf0a69361f">stoh16</a></div><div class="ttdeci">uint16_t stoh16(uint16_t sensorOrdered)</div><div class="ttdoc">Converts a 16-bit integer in sensor order to host order. </div></div>
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<div class="ttc" id="group__sensor_value_extractors_html_ga67046d2ccd7062c2f2e87f76ffdee825"><div class="ttname"><a href="group__sensor_value_extractors.html#ga67046d2ccd7062c2f2e87f76ffdee825">VnUtil_extractUint16</a></div><div class="ttdeci">uint16_t VnUtil_extractUint16(const char *pos)</div><div class="ttdoc">Extracts a uint16_t with appropriate byte reordering from the binary array received from a VectorNav ...</div></div>
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<div class="ttc" id="group__sensor_value_extractors_html_ga67803c335c0cbc25acfcc31feab84c9d"><div class="ttname"><a href="group__sensor_value_extractors.html#ga67803c335c0cbc25acfcc31feab84c9d">VnUtil_extractVec3d</a></div><div class="ttdeci">vec3d VnUtil_extractVec3d(const char *pos)</div><div class="ttdoc">Extracts a vec3d with appropriate byte reordering from the binary array received from a VectorNav sen...</div></div>
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<div class="ttc" id="group__sensor_value_extractors_html_gaefb159f66e04644b11cf83c1e87b9031"><div class="ttname"><a href="group__sensor_value_extractors.html#gaefb159f66e04644b11cf83c1e87b9031">VnUtil_extractVec4f</a></div><div class="ttdeci">vec4f VnUtil_extractVec4f(const char *pos)</div><div class="ttdoc">Extracts a vec4f with appropriate byte reordering from the binary array received from a VectorNav sen...</div></div>
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<div class="ttc" id="group__byte_orderers_html_ga7a28812d3659f7af2a87b7a577b972cc"><div class="ttname"><a href="group__byte_orderers.html#ga7a28812d3659f7af2a87b7a577b972cc">stoh32</a></div><div class="ttdeci">uint32_t stoh32(uint32_t sensorOrdered)</div><div class="ttdoc">Converts a 32-bit integer in sensor order to host order. </div></div>
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<div class="ttc" id="group__sensor_value_extractors_html_ga9abee9b7f6e11a9fbf00019e06cab73a"><div class="ttname"><a href="group__sensor_value_extractors.html#ga9abee9b7f6e11a9fbf00019e06cab73a">VnUtil_extractDouble</a></div><div class="ttdeci">double VnUtil_extractDouble(const char *pos)</div><div class="ttdoc">Extracts a double with appropriate byte reordering from the binary array received from a VectorNav se...</div></div>
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<div class="ttc" id="group__byte_orderers_html_gad993af5db1d46cc842842bdf4b9d1e97"><div class="ttname"><a href="group__byte_orderers.html#gad993af5db1d46cc842842bdf4b9d1e97">stoh64</a></div><div class="ttdeci">uint64_t stoh64(uint64_t sensorOrdered)</div><div class="ttdoc">Converts a 64-bit integer in sensor order to host order. </div></div>
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<div class="ttc" id="unionvec4f_html"><div class="ttname"><a href="unionvec4f.html">vec4f</a></div><div class="ttdoc">Represents a 4 component vector with an underlying data type of float. </div><div class="ttdef"><b>Definition:</b> vector.h:68</div></div>
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<div class="ttc" id="unionvec3d_html"><div class="ttname"><a href="unionvec3d.html">vec3d</a></div><div class="ttdoc">Represents a 3 component vector with an underlying data type of double. </div><div class="ttdef"><b>Definition:</b> vector.h:41</div></div>
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<div class="ttc" id="group__sensor_value_extractors_html_ga2b0e777f59407f501256902dcaba5325"><div class="ttname"><a href="group__sensor_value_extractors.html#ga2b0e777f59407f501256902dcaba5325">VnUtil_extractFloat</a></div><div class="ttdeci">float VnUtil_extractFloat(const char *pos)</div><div class="ttdoc">Extracts a float with appropriate byte reordering from the binary array received from a VectorNav sen...</div></div>
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<div class="ttc" id="group__byte_orderers_html_ga2d883ad9d232920fcf8505788df1c951"><div class="ttname"><a href="group__byte_orderers.html#ga2d883ad9d232920fcf8505788df1c951">htosf4</a></div><div class="ttdeci">float htosf4(float hostOrdered)</div><div class="ttdoc">Converts a 4-byte float in host order to sensor order. </div></div>
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<div class="ttc" id="group__sensor_value_extractors_html_gada8600834e016d1a6198bd7df84949a8"><div class="ttname"><a href="group__sensor_value_extractors.html#gada8600834e016d1a6198bd7df84949a8">VnUtil_extractUint32</a></div><div class="ttdeci">uint32_t VnUtil_extractUint32(const char *pos)</div><div class="ttdoc">Extracts a uint32_t with appropriate byte reordering from the binary array received from a VectorNav ...</div></div>
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<div class="ttc" id="unionmat3f_html"><div class="ttname"><a href="unionmat3f.html">mat3f</a></div><div class="ttdoc">Represents a 3x3 matrix with an underlying data type of float. </div><div class="ttdef"><b>Definition:</b> matrix.h:11</div></div>
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<div class="ttc" id="group__sensor_value_extractors_html_ga9decf8a326fcba9319a31de0656367b3"><div class="ttname"><a href="group__sensor_value_extractors.html#ga9decf8a326fcba9319a31de0656367b3">VnUtil_extractVec3f</a></div><div class="ttdeci">vec3f VnUtil_extractVec3f(const char *pos)</div><div class="ttdoc">Extracts a vec3f with appropriate byte reordering from the binary array received from a VectorNav sen...</div></div>
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<div class="ttc" id="group__sensor_value_extractors_html_ga2b32e5bfd9e0bb5d5906548c2a2bf63f"><div class="ttname"><a href="group__sensor_value_extractors.html#ga2b32e5bfd9e0bb5d5906548c2a2bf63f">VnUtil_extractMat3f</a></div><div class="ttdeci">mat3f VnUtil_extractMat3f(const char *pos)</div><div class="ttdoc">Extracts a mat3f with appropriate byte reordering from the binary array received from a VectorNav sen...</div></div>
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<div class="ttc" id="group__byte_orderers_html_ga642450533d60a03348eb630b89d76495"><div class="ttname"><a href="group__byte_orderers.html#ga642450533d60a03348eb630b89d76495">htos64</a></div><div class="ttdeci">uint64_t htos64(uint64_t hostOrdered)</div><div class="ttdoc">Converts a 64-bit integer in host order to sensor order. </div></div>
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<div class="ttc" id="unionvec3f_html"><div class="ttname"><a href="unionvec3f.html">vec3f</a></div><div class="ttdoc">Various vector types and operations. </div><div class="ttdef"><b>Definition:</b> vector.h:14</div></div>
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