geometry.hpp

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#pragma once
 
#include <Eigen/Eigen>
 
namespace auterion {
float radToDeg(const float rad);
double radToDeg(const double rad);
 
float degToRad(const float deg);
double degToRad(const double deg);
 
namespace literals {
inline constexpr float operator"" _deg(long double degrees);
inline constexpr float operator"" _rad(long double radians);
}  // namespace literals
 
float wrapAngleToPlusMinusPi(const float angle);
double wrapAngleToPlusMinusPi(const double angle);
 
Eigen::Vector3f quaternionToEulerRpy(const Eigen::Quaternionf& q);
Eigen::Vector3d quaternionToEulerRpy(const Eigen::Quaterniond& q);
 
Eigen::Quaternionf eulerRpyToQuaternion(const Eigen::Vector3f& euler);
Eigen::Quaterniond eulerRpyToQuaternion(const Eigen::Vector3d& euler);
 
Eigen::Quaternionf eulerRpyToQuaternion(const float roll, const float pitch, const float yaw);
Eigen::Quaterniond eulerRpyToQuaternion(const double roll, const double pitch, const double yaw);
 
float quaternionToRoll(const Eigen::Quaternionf& q);
double quaternionToRoll(const Eigen::Quaterniond& q);
 
float quaternionToPitch(const Eigen::Quaternionf& q);
double quaternionToPitch(const Eigen::Quaterniond& q);
 
float quaternionToYaw(const Eigen::Quaternionf& q);
double quaternionToYaw(const Eigen::Quaterniond& q);
 
}  // namespace auterion