SkyQuaternion.h

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/* Copyright (c) 2020 Skyward Experimental Rocketry
 * Author: Marco Cella
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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 * THE SOFTWARE.
 */
 
#pragma once
 
#include <Eigen/Dense>
 
namespace Boardcore
{
 
namespace SkyQuaternion
{
 
Eigen::Vector4f eul2quat(const Eigen::Vector3f& euler);
 
Eigen::Vector3f quat2eul(const Eigen::Vector4f& quat);
 
Eigen::Vector3f quat2stepperAngles(const Eigen::Vector4f& quat);
 
Eigen::Vector4f rotationMatrix2quat(const Eigen::Matrix3f& rtm);
 
Eigen::Matrix3f quat2rotationMatrix(const Eigen::Vector4f& quat);
 
bool quatNormalize(Eigen::Vector4f& quat);
 
Eigen::Vector4f quatProd(const Eigen::Vector4f& q1, const Eigen::Vector4f& q2);
 
};  // namespace SkyQuaternion
 
}  // namespace Boardcore