diff options
Diffstat (limited to 'compat')
| -rw-r--r-- | compat/euler.cpp | 4 | ||||
| -rw-r--r-- | compat/euler.hpp | 6 |
2 files changed, 5 insertions, 5 deletions
diff --git a/compat/euler.cpp b/compat/euler.cpp index 889fc53e..5d6fb25b 100644 --- a/compat/euler.cpp +++ b/compat/euler.cpp @@ -4,7 +4,7 @@ namespace euler { -euler_t rmat_to_euler(const rmat& R) +Pose_ rmat_to_euler(const rmat& R) { const double cy = sqrt(R(2,2)*R(2, 2) + R(2, 1)*R(2, 1)); const bool large_enough = cy > 1e-10; @@ -23,7 +23,7 @@ euler_t rmat_to_euler(const rmat& R) } // tait-bryan angles, not euler -rmat euler_to_rmat(const euler_t& input) +rmat euler_to_rmat(const Pose_& input) { const double H = -input(0); const double P = -input(1); diff --git a/compat/euler.hpp b/compat/euler.hpp index d4217a70..b2f10ac0 100644 --- a/compat/euler.hpp +++ b/compat/euler.hpp @@ -17,9 +17,9 @@ template<int h_, int w_> using dmat = Mat<double, h_, w_>; using dvec3 = Mat<double, 3, 1>; using rmat = dmat<3, 3>; -using euler_t = dmat<3, 1>; +using Pose_ = 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); +rmat OTR_COMPAT_EXPORT euler_to_rmat(const Pose_& input); +Pose_ OTR_COMPAT_EXPORT rmat_to_euler(const rmat& R); } // end ns euler |