diff options
Diffstat (limited to 'compat/euler.hpp')
| -rw-r--r-- | compat/euler.hpp | 23 |
1 files changed, 10 insertions, 13 deletions
diff --git a/compat/euler.hpp b/compat/euler.hpp index 4eb6e00c..b2f10ac0 100644 --- a/compat/euler.hpp +++ b/compat/euler.hpp @@ -1,5 +1,12 @@ #pragma once +/* Copyright (c) 2016-2018 Stanislaw Halik + * + * Permission to use, copy, modify, and/or distribute this software for any + * purpose with or without fee is hereby granted, provided that the above + * copyright notice and this permission notice appear in all copies. + */ + #include "export.hpp" #include "simple-mat.hpp" @@ -7,22 +14,12 @@ 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 OTR_COMPAT_EXPORT euler_to_rmat(const euler_t& input); - -euler_t OTR_COMPAT_EXPORT rmat_to_euler(const rmat& R); - -void OTR_COMPAT_EXPORT tait_bryan_to_matrices(const euler_t& input, - rmat& r_roll, - rmat& r_pitch, - rmat& r_yaw); +using Pose_ = dmat<3, 1>; -Quat OTR_COMPAT_EXPORT matrix_to_quat(const rmat& M); -//XXX TODO rmat OTR_COMPAT_EXPORT quat_to_matrix(const Quat<double>& Q); +rmat OTR_COMPAT_EXPORT euler_to_rmat(const Pose_& input); +Pose_ OTR_COMPAT_EXPORT rmat_to_euler(const rmat& R); } // end ns euler |