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_