EulerAnglesTransform.h

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/*
 * EulerAnglesTransform.h
 *
 *  Created on: 11/12/2012
 *      Author: catec
 */

#ifndef EULERANGLESTRANSFORM_H_
#define EULERANGLESTRANSFORM_H_
#include <Quaternion.h>
#include <Euler.h>
namespace rotateOp {

class EulerAnglesTransform {
public:
        static Euler& transformToSystem(Euler& eulerToTranform,
                        TransformationTypes::EulerType type) {
                Quaternion quaternionAux;
                quaternionAux.fromEuler(eulerToTranform.getRoll(),
                                eulerToTranform.getPitch(), eulerToTranform.getYaw(),
                                eulerToTranform.getEulerType());
                Euler eulerTrans(type);
                eulerTrans.fromQuaternion(quaternionAux);
                return eulerTrans;
        }
};
}

#endif /* EULERANGLESTRANSFORM_H_ */