1 files changed, 25 insertions, 0 deletions
diff --git a/compat/euler.hpp b/compat/euler.hpp
new file mode 100644
index 00000000..6a1ea1a4
--- /dev/null
+++ b/compat/euler.hpp
@@ -0,0 +1,25 @@
+#pragma once
+
+#include "export.hpp"
+#include "simple-mat.hpp"
+
+namespace euler {
+
+template<int h_, int w_> using dmat = Mat<double, h_, w_>;
+
+using dvec2 = Mat<double, 2, 1>;
+using dvec3 = Mat<double, 3, 1>;
+
+using rmat = dmat<3, 3>;
+using euler_t = dmat<3, 1>;
+
+rmat OPENTRACK_COMPAT_EXPORT euler_to_rmat(const euler_t& input);
+
+euler_t OPENTRACK_COMPAT_EXPORT rmat_to_euler(const rmat& R);
+
+void OPENTRACK_COMPAT_EXPORT tait_bryan_to_matrices(const euler_t& input,
+                                                   rmat& r_roll,
+                                                   rmat& r_pitch,
+                                                   rmat& r_yaw);
+
+} // end ns euler