Program Listing for File frame_utils.hpp
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// Copyright 2023 Universidad Politécnica de Madrid
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/*!*******************************************************************************************
* \file frame_utils.hpp
* \brief Aerostack2 frame utils header file.
* \authors Rafael Pérez Seguí
* Pedro Arias Pérez
********************************************************************************/
#ifndef AS2_CORE__UTILS__FRAME_UTILS_HPP_
#define AS2_CORE__UTILS__FRAME_UTILS_HPP_
#include <math.h>
#include <Eigen/Geometry>
#include "as2_core/custom/tf2_geometry_msgs.hpp"
#include <geometry_msgs/msg/quaternion.hpp>
namespace as2
{
namespace frame
{
Eigen::Vector3d transform(const tf2::Quaternion & quaternion, const Eigen::Vector3d & vector);
Eigen::Vector3d transform(
const float roll_angle, const float pitch_angle, const float yaw_angle,
const Eigen::Vector3d & vector);
Eigen::Vector3d transform(
const geometry_msgs::msg::Quaternion & quaternion, const Eigen::Vector3d & vector);
Eigen::Vector3d transform(const Eigen::Quaterniond & quaternion, const Eigen::Vector3d & vector); // NOLINT
Eigen::Vector3d transformInverse(
const tf2::Quaternion & quaternion, const Eigen::Vector3d & vector);
Eigen::Vector3d transformInverse(
const float roll_angle, const float pitch_angle, const float yaw_angle,
const Eigen::Vector3d & vector);
Eigen::Vector3d transformInverse(
const geometry_msgs::msg::Quaternion & quaternion, const Eigen::Vector3d & vector);
Eigen::Vector3d transformInverse(
const Eigen::Quaterniond & quaternion, const Eigen::Vector3d & vector);
Eigen::Vector3d transformInverse(
const Eigen::Quaterniond & quaternion, const Eigen::Vector3d & vector);
void quaternionToEuler(
const tf2::Quaternion & quaternion, double & roll, double & pitch, double & yaw);
void quaternionToEuler(
const geometry_msgs::msg::Quaternion & quaternion, double & roll, double & pitch, double & yaw);
void quaternionToEuler(
const Eigen::Quaterniond & quaternion, double & roll, double & pitch, double & yaw);
void eulerToQuaternion(
const double roll, const double pitch, const double yaw, tf2::Quaternion & quaternion);
void eulerToQuaternion(
const double roll, const double pitch, const double yaw,
geometry_msgs::msg::Quaternion & quaternion);
void eulerToQuaternion(
const double roll, const double pitch, const double yaw, Eigen::Quaterniond & quaternion);
double getYawFromQuaternion(const tf2::Quaternion & quaternion);
double getYawFromQuaternion(const geometry_msgs::msg::Quaternion & quaternion);
double getYawFromQuaternion(const Eigen::Quaterniond & quaternion);
double getVector2DAngle(const double x, const double y);
double wrapAngle0To2Pi(const double theta);
double wrapAnglePiToPi(const double theta);
double angleMinError(const double theta1, const double theta2);
} // namespace frame
} // namespace as2
#endif // AS2_CORE__UTILS__FRAME_UTILS_HPP_