[RSDK-11058] provide a means to free vector/quaterion/ov components

Author: gvaradarajan

src/ffi/spatialmath/orientation_vector.rs

@@ -93,3 +93,19 @@ pub unsafe extern "C" fn orientation_vector_from_quaternion(
     let o_vec: OrientationVector = (*quat_ptr).into();
     to_raw_pointer(&o_vec)
 }
+
+/// Free memory of an array of orientation vector components at the given address.
+///
+/// # Safety
+///
+/// Outer processes that request the components of a orientation vector should call this function 
+/// to free the memory allocated to the array once finished
+#[no_mangle]
+pub unsafe extern "C" fn free_orientation_vector_components(ptr: *mut c_double) {
+    if ptr.is_null() {
+        return;
+    }
+    let slice = std::slice::from_raw_parts_mut(ptr, 4);
+    let arr: [c_double; 4] = slice.try_into().unwrap();
+    let _ = arr; // technically not necessary but helps to be explicit
+}

src/ffi/spatialmath/quaternion.rs

@@ -448,3 +448,19 @@ pub unsafe extern "C" fn quaternion_hamiltonian_product(
     null_pointer_check!(quat_ptr_2);
     to_raw_pointer(&((*quat_ptr_1) * (*quat_ptr_2)))
 }
+
+/// Free memory of an array of quaternion components at the given address.
+///
+/// # Safety
+///
+/// Outer processes that request the components of a quaternion should call this function 
+/// to free the memory allocated to the array once finished
+#[no_mangle]
+pub unsafe extern "C" fn free_quaternion_components(ptr: *mut c_double) {
+    if ptr.is_null() {
+        return;
+    }
+    let slice = std::slice::from_raw_parts_mut(ptr, 4);
+    let arr: [c_double; 4] = slice.try_into().unwrap();
+    let _ = arr; // technically not necessary but helps to be explicit
+}

src/ffi/spatialmath/vector3.rs

@@ -219,3 +219,19 @@ pub unsafe extern "C" fn vector_cross_product(
     let vec = (*vec_ptr_1).cross(&*vec_ptr_2);
     to_raw_pointer(vec)
 }
+
+/// Free memory of an array of vector components at the given address.
+///
+/// # Safety
+///
+/// Outer processes that request the components of a vector should call this function 
+/// to free the memory allocated to the array once finished
+#[no_mangle]
+pub unsafe extern "C" fn free_vector_components(ptr: *mut c_double) {
+    if ptr.is_null() {
+        return;
+    }
+    let slice = std::slice::from_raw_parts_mut(ptr, 3);
+    let arr: [c_double; 3] = slice.try_into().unwrap();
+    let _ = arr; // technically not necessary but helps to be explicit
+}