6 #ifndef __eigenpy_geometry_conversion_hpp__
7 #define __eigenpy_geometry_conversion_hpp__
13 template <
typename Scalar,
int Options = 0>
15 typedef typename Eigen::Matrix<Scalar, 3, 1, Options>
Vector3;
16 typedef typename Eigen::Matrix<Scalar, 3, 3, Options>
Matrix3;
17 typedef typename Vector3::Index
Index;
19 typedef typename Eigen::AngleAxis<Scalar>
AngleAxis;
23 bp::args(
"rotation_matrix",
"a0",
"a1",
"a2"),
24 "It returns the Euler-angles of the rotation matrix mat using the "
25 "convention defined by the triplet (a0,a1,a2).");
28 bp::args(
"euler_angles",
"a0",
"a1",
"a2"),
29 "It returns the rotation matrix associated to the Euler angles "
30 "using the convention defined by the triplet (a0,a1,a2).");
35 return mat.eulerAngles(a0, a1, a2);
50 #endif // define __eigenpy_geometry_conversion_hpp__