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#include "euler.hpp"
#include "math-imports.hpp"
#include <cmath>
namespace euler {
euler_t OTR_COMPAT_EXPORT 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;
if (large_enough)
return {
atan2(-R(1, 0), R(0, 0)),
atan2(R(2, 0), cy),
atan2(-R(2, 1), R(2, 2))
};
else
return {
atan2(R(0, 1), R(1, 1)),
atan2(R(2, 0), cy),
0
};
}
// tait-bryan angles, not euler
rmat OTR_COMPAT_EXPORT euler_to_rmat(const euler_t& input)
{
const double H = -input(0);
const double P = -input(1);
const double B = -input(2);
const auto c1 = cos(H);
const auto s1 = sin(H);
const auto c2 = cos(P);
const auto s2 = sin(P);
const auto c3 = cos(B);
const auto s3 = sin(B);
return {
// z
c1*c2,
c1*s2*s3 - c3*s1,
s1*s3 + c1*c3*s2,
// y
c2*s1,
c1*c3 + s1*s2*s3,
c3*s1*s2 - c1*s3,
// x
-s2,
c2*s3,
c2*c3
};
}
} // end ns euler
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