yaw2quaternion.cpp

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/*****************************************************************************
** Includes
*****************************************************************************/
 
#include <iostream>
#include <ecl/command_line.hpp>
#include <ecl/linear_algebra.hpp>
 
/*****************************************************************************
 * Using
 ****************************************************************************/
 
using ecl::ArgException;
using ecl::CmdLine;
using ecl::UnlabeledValueArg;
 
/*****************************************************************************
** Main program
*****************************************************************************/
int main(int argc, char** argv) {
 
    /******************************************
     * Parse for the port name
     ******************************************/
    bool hex(false);
    double yaw;
 
    try {
        CmdLine cmd("Calculator for yaw to quaternion.",' ',"0.1");
        UnlabeledValueArg<double> arg_yaw("yaw","Yaw angle to convert",true,0.0,"float", cmd);
        cmd.parse(argc,argv);
        yaw = arg_yaw.getValue();
    } catch ( ArgException &e ) {
        std::cerr << "error: " << e.error() << " for arg " << e.argId() << std::endl;
    }
    Eigen::Quaternion<double> q;
    q = Eigen::AngleAxis<double>(yaw, Eigen::Vector3d::UnitZ());
    std::cout << "Quaternion: [x: " << q.x() << " y: " << q.y() << " z: " << q.z() << " w: " << q.w() << "]" << std::endl;
 
    return 0;
}