frame_conversion.hpp

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#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::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