/home/travis/build/lis-epfl/MAVRIC_Library/drivers/optic_flow.h

/*******************************************************************************
 * Copyright (c) 2009-2016, MAV'RIC Development Team
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
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 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
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/*******************************************************************************
 * \file optic_flow.h
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief Defines types for generic optic flow sensors
 *
 ******************************************************************************/


#ifndef OPTIC_FLOW_H_
#define OPTIC_FLOW_H_

#ifdef __cplusplus
extern "C" {
#endif

#include <stdint.h>

typedef struct
{
    int16_t x;          
    int16_t y;          
} raw_of_vector_t;


typedef struct
{
    float x;            
    float y;            
} of_vector_t;


typedef struct
{
    float azimuth;      
    float elevation;    
} viewing_direction_t;


typedef struct
{
    float Arx;  
    float Apx;  
    float Ayx;  
    float Ary;  
    float Apy;  
    float Ayy;  
} derotation_matrix_t;


#ifdef __cplusplus
}
#endif

#endif /* OPTIC_FLOW_H_ */