frame_conversion.hpp

/****************************************************************************
 *
 * Copyright 2024 Auterion AG. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice, this
 * list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/
 
#pragma once
 
#include <Eigen/Eigen>
 
namespace auterion {
Eigen::Quaternionf attitudeNedToEnu(const Eigen::Quaternionf& q_ned);
Eigen::Quaterniond attitudeNedToEnu(const Eigen::Quaterniond& q_ned);
 
Eigen::Quaternionf attitudeEnuToNed(const Eigen::Quaternionf& q_enu);
Eigen::Quaterniond attitudeEnuToNed(const Eigen::Quaterniond& q_enu);
 
Eigen::Quaternionf attitudeFrdToFlu(const Eigen::Quaternionf& q_frd);
Eigen::Quaterniond attitudeFrdToFlu(const Eigen::Quaterniond& q_frd);
 
Eigen::Quaternionf attitudeFluToFrd(const Eigen::Quaternionf& q_flu);
Eigen::Quaterniond attitudeFluToFrd(const Eigen::Quaterniond& q_flu);
 
Eigen::Vector3f yawBodyToWorld(float yaw, const Eigen::Vector3f& point_body);
Eigen::Vector3d yawBodyToWorld(double yaw, const Eigen::Vector3d& point_body);
 
float yawNedToEnu(const float yaw_ned_rad);
double yawNedToEnu(const double yaw_ned_rad);
 
float yawEnuToNed(const float yaw_enu_rad);
double yawEnuToNed(const double yaw_enu_rad);
 
float yawRateNedToEnu(const float yaw_rate_ned);
double yawRateNedToEnu(const double yaw_rate_ned);
 
float yawRateEnuToNed(const float yaw_rate_enu);
double yawRateEnuToNed(const double yaw_rate_enu);
 
Eigen::Vector3f positionNedToEnu(const Eigen::Vector3f& ned);
Eigen::Vector3d positionNedToEnu(const Eigen::Vector3d& ned);
Eigen::Vector2f positionNedToEnu(const Eigen::Vector2f& ne);
Eigen::Vector2d positionNedToEnu(const Eigen::Vector2d& ne);
 
Eigen::Vector3f positionEnuToNed(const Eigen::Vector3f& enu);
Eigen::Vector3d positionEnuToNed(const Eigen::Vector3d& enu);
Eigen::Vector2f positionEnuToNed(const Eigen::Vector2f& en);
Eigen::Vector2d positionEnuToNed(const Eigen::Vector2d& en);
 
Eigen::Vector3f frdToFlu(const Eigen::Vector3f& frd);
Eigen::Vector3d frdToFlu(const Eigen::Vector3d& frd);
 
Eigen::Vector3f fluToFrd(const Eigen::Vector3f& flu);
Eigen::Vector3d fluToFrd(const Eigen::Vector3d& flu);
 
Eigen::Vector3f varianceNedToEnu(const Eigen::Vector3f& v_ned);
Eigen::Vector3d varianceNedToEnu(const Eigen::Vector3d& v_ned);
 
Eigen::Vector3f varianceEnuToNed(const Eigen::Vector3f& v_enu);
Eigen::Vector3d varianceEnuToNed(const Eigen::Vector3d& v_enu);
 
}  // namespace auterion