/*! \relates XsSdiData
\brief Initialize an %XsSdiData object with the optional arguments.
\param orientationIncrement The orientation increment to initialize the object with, may be 0
\param velocityIncrement The velocity increment to initialize the object with, may be 0
*/
void XsSdiData_construct(XsSdiData* thisPtr, const XsReal* orientationIncrement, const XsReal* velocityIncrement)
{
if (orientationIncrement)
{
thisPtr->m_orientationIncrement.m_data[0] = orientationIncrement[0];
thisPtr->m_orientationIncrement.m_data[1] = orientationIncrement[1];
thisPtr->m_orientationIncrement.m_data[2] = orientationIncrement[2];
thisPtr->m_orientationIncrement.m_data[3] = orientationIncrement[3];
}
else
XsQuaternion_destruct(&thisPtr->m_orientationIncrement);
if (velocityIncrement)
XsVector3_assign(&thisPtr->m_velocityIncrement, velocityIncrement);
else
XsVector3_destruct(&thisPtr->m_velocityIncrement);
}
/*! \relates XsCalibratedData
\brief Destruct an %XsCalibratedData object
*/
void XsCalibratedData_destruct(XsCalibratedData* thisPtr)
{
XsVector3_destruct(&thisPtr->m_acc);
XsVector3_destruct(&thisPtr->m_gyr);
XsVector3_destruct(&thisPtr->m_mag);
}
/*! \relates XsSdiData
\brief Destruct the object, makes the fields invalid
*/
void XsSdiData_destruct(XsSdiData* thisPtr)
{
XsQuaternion_destruct(&thisPtr->m_orientationIncrement);
XsVector3_destruct(&thisPtr->m_velocityIncrement);
}
