OrientationConversion.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ArmarXGuiPlugins::RobotTrajectoryDesigner::Interpolation
 * @author     Timo Birr
 * @date       2018
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#ifndef ORIENTATIONCONVERSION_H
 
#define ORIENTATIONCONVERSION_H
 
#include "RobotAPI/interface/core/PoseBase.h"
 
#include "Eigen/Geometry"
 
#include <memory>
 
namespace armarx
{
 
    class OrientationConversion
    {
    public:
        static std::vector<double> toEulerAngle(QuaternionBasePtr q);
 
        static QuaternionBasePtr toQuaternion(const double roll, const double pitch, const double yaw);
 
        static Eigen::Quaternion<double> toEigen(QuaternionBasePtr q);
 
        static QuaternionBasePtr toArmarX(Eigen::Quaternion<double> q);
    };
}
 
#endif