.. _program_listing_file__tmp_ws_src_eigenpy_include_eigenpy_geometry-conversion.hpp:

Program Listing for File geometry-conversion.hpp
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|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_eigenpy_include_eigenpy_geometry-conversion.hpp>` (``/tmp/ws/src/eigenpy/include/eigenpy/geometry-conversion.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright 2014-2019, CNRS
    * Copyright 2018-2023, INRIA
    */
   
   #ifndef __eigenpy_geometry_conversion_hpp__
   #define __eigenpy_geometry_conversion_hpp__
   
   #include "eigenpy/fwd.hpp"
   
   namespace eigenpy {
   
   template <typename Scalar, int Options = 0>
   struct EulerAnglesConvertor {
     typedef typename Eigen::Matrix<Scalar, 3, 1, Options> Vector3;
     typedef typename Eigen::Matrix<Scalar, 3, 3, Options> Matrix3;
     typedef typename Vector3::Index Index;
   
     typedef typename Eigen::AngleAxis<Scalar> AngleAxis;
   
     static void expose() {
       bp::def("toEulerAngles", &EulerAnglesConvertor::toEulerAngles,
               bp::args("rotation_matrix", "a0", "a1", "a2"),
               "It returns the Euler-angles of the rotation matrix mat using the "
               "convention defined by the triplet (a0,a1,a2).");
   
       bp::def("fromEulerAngles", &EulerAnglesConvertor::fromEulerAngles,
               bp::args("euler_angles", "a0", "a1", "a2"),
               "It returns the rotation matrix associated to the Euler angles "
               "using the convention defined by the triplet (a0,a1,a2).");
     }
   
     static Vector3 toEulerAngles(const Matrix3& mat, Index a0, Index a1,
                                  Index a2) {
       return mat.eulerAngles(a0, a1, a2);
     }
   
     static Matrix3 fromEulerAngles(const Vector3& ea, Index a0, Index a1,
                                    Index a2) {
       Matrix3 mat;
       mat = AngleAxis(ea[0], Vector3::Unit(a0)) *
             AngleAxis(ea[1], Vector3::Unit(a1)) *
             AngleAxis(ea[2], Vector3::Unit(a2));
       return mat;
     }
   };
   
   }  // namespace eigenpy
   
   #endif  // define __eigenpy_geometry_conversion_hpp__