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#include "euler.hpp"
#include "math-imports.hpp"
#include <cmath>
// rotation order is XYZ
namespace euler {
euler_t OTR_COMPAT_EXPORT rmat_to_euler(const rmat& R)
{
double alpha, beta, gamma;
beta = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );
alpha = atan2( R(1,0), R(0,0));
gamma = atan2( R(2,1), R(2,2));
return { alpha, beta, gamma };
}
rmat OTR_COMPAT_EXPORT euler_to_rmat(const euler_t& e)
{
const double X = -e(2);
const double Y = -e(1);
const double Z = -e(0);
const double cx = cos(X);
const double sx = sin(X);
const double cy = cos(Y);
const double sy = sin(Y);
const double cz = cos(Z);
const double sz = sin(Z);
return {
cy*cz, -cy*sz, sy,
cz*sx*sy + cx*sz, cx*cz - sx*sy*sz, -cy*sx,
-cx*cz*sy + sx*sz, cz*sx + cx*sy*sz, cx*cy,
};
}
} // end ns euler
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