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#pragma once
#include "export.hpp"
#include "simple-mat.hpp"
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);
Quat OTR_COMPAT_EXPORT matrix_to_quat(const rmat& M);
//XXX TODO rmat OTR_COMPAT_EXPORT quat_to_matrix(const Quat<double>& Q);
} // end ns euler
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