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#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"
namespace euler {
template<int h_, int w_> using dmat = Mat<double, h_, w_>;
using dvec3 = Mat<double, 3, 1>;
using rmat = dmat<3, 3>;
using Pose_ = dmat<3, 1>;
rmat OTR_COMPAT_EXPORT euler_to_rmat(const Pose_& input);
Pose_ OTR_COMPAT_EXPORT rmat_to_euler(const rmat& R);
} // end ns euler
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