rotations.h

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#ifndef _DLR_NUMERIC_ROTATIONS_H_
#define _DLR_NUMERIC_ROTATIONS_H_

#include <dlrNumeric/quaternion.h>
#include <dlrNumeric/transform3D.h>
#include <dlrNumeric/vector3D.h>

namespace dlr {

  namespace numeric {

    enum Axis {
      DLR_AXIS_X,
      DLR_AXIS_Y,
      DLR_AXIS_Z
    };
    
      
    Quaternion
    angleAxisToQuaternion(double angle, const Vector3D& axis,
                          bool isNormalized=false);
  

    Vector3D
    angleAxisToRollPitchYaw(double angle, const Vector3D& axis,
                            bool isNormalized=false);
  

    Transform3D
    angleAxisToTransform3D(double angle, const Vector3D& axis,
                           bool isNormalized=false);
  

    Transform3D
    eulerToTransform3D(double angle0, Axis axis0,
                       double angle1, Axis axis1,
                       double angle2, Axis axis2);
  

    std::pair<double, Vector3D>
    quaternionToAngleAxis(const Quaternion& quaternion);
  

    Vector3D
    quaternionToRollPitchYaw(const Quaternion& quaternion);


    Transform3D
    quaternionToTransform3D(const Quaternion& quaternion);

    
    std::pair<double, Vector3D>
    rollPitchYawToAngleAxis(const Vector3D& rollPitchYaw);

  
    Quaternion
    rollPitchYawToQuaternion(const Vector3D& rollPitchYaw);

  
    Transform3D
    rollPitchYawToTransform3D(const Vector3D& rollPitchYaw);


    std::pair<double, Vector3D>
    transform3DToAngleAxis(const Transform3D& transform3D);


    Quaternion
    transform3DToQuaternion(const Transform3D& transform3D);


    Vector3D
    transform3DToRollPitchYaw(const Transform3D& transform3D);

  } // namespace numeric

} // namespace dlr


/* ======= Declarations to maintain compatibility with legacy code. ======= */

namespace dlr {

  using numeric::angleAxisToQuaternion;
  using numeric::angleAxisToRollPitchYaw;
  using numeric::angleAxisToTransform3D;
  using numeric::quaternionToAngleAxis;
  using numeric::quaternionToRollPitchYaw;
  using numeric::quaternionToTransform3D;
  using numeric::rollPitchYawToAngleAxis;
  using numeric::rollPitchYawToQuaternion;
  using numeric::rollPitchYawToTransform3D;
  using numeric::transform3DToAngleAxis;
  using numeric::transform3DToQuaternion;
  using numeric::transform3DToRollPitchYaw;

} // namespace dlr

#endif /* #ifndef _DLR_NUMERIC_ROTATIONS_H_ */