geometry.hpp

Go to the documentation of this file.

/****************************************************************************
 *
 * Copyright 2023 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 {
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(float yaw);
double wrapAngleToPlusMinusPi(double yaw);
 
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