rotations.h

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#ifndef _TRANSFORMS_H
#define _TRANSFORMS_H

/* SECTION:transforms*/

#ifdef __cplusplus
extern "C" {
#endif

/*
When composing rotations, the resulting quaternion represents 
first rotating by b, then rotation by a.
*/
void rot_quat_mult (double c[4], const double a[4], const double b[4]);
void rot_quat_rotate (const double quat[4], double v[3]);
void rot_quat_rotate_rev (const double quat[4], double v[3]);
// formerly: rot_quat_to_matrix
int rot_quat_to_matrix(const double quat[4], double rot[9]);
// formerly: rot_matrix_to_quat
int rot_matrix_to_quat(const double rot[9], double quat[4]);
int rot_quat_pos_to_matrix(const double quat[4], const double pose[3], double m[16]);

/* 
populates a quaternion so that it represents a rotation of theta radians
about the axis <x,y,z>
*/
void rot_angle_axis_to_quat (double theta, const double axis[3], double q[4]);
void rot_quat_to_angle_axis (const double q[4], double *theta, double axis[3]);

/*
 * converts a rotation from RPY representation (radians) into unit quaternion
 * representation
 *
 * rpy[0] = roll
 * rpy[1] = pitch
 * rpy[2] = yaw
 */
void rot_roll_pitch_yaw_to_quat(const double rpy[3], double q[4]);

/*
 * converts a rotation from unit quaternion representation to RPY
 * representation.  Resulting values are in radians.
 *
 * If any of roll, pitch, or yaw are NULL, then they are not set.
 *
 * rpy[0] = roll
 * rpy[1] = pitch
 * rpy[2] = yaw
 */
void rot_quat_to_roll_pitch_yaw (const double q[4], double rpy[3]);
/* These doesn't truly belong with the quaternion functions, but are useful and sort of fits in here.  */
void rot_roll_pitch_yaw_to_angle_axis (const double rpy[3], double *angle, double axis[3]);
void rot_angle_axis_to_roll_pitch_yaw (double angle, const double axis[3], double rpy[3]);
// runs some sanity checks
int rot_quaternion_test();

#ifdef __cplusplus
}
#endif

#endif