dragonpilot - 基於 openpilot 的開源駕駛輔助系統
You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
|
|
|
|
#pragma once
|
|
|
|
|
#include <eigen3/Eigen/Dense>
|
|
|
|
|
#include "common/transformations/coordinates.hpp"
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat);
|
|
|
|
|
|
|
|
|
|
Eigen::Quaterniond euler2quat(Eigen::Vector3d euler);
|
|
|
|
|
Eigen::Vector3d quat2euler(Eigen::Quaterniond quat);
|
|
|
|
|
Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat);
|
|
|
|
|
Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot);
|
|
|
|
|
Eigen::Matrix3d euler2rot(Eigen::Vector3d euler);
|
|
|
|
|
Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot);
|
|
|
|
|
Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw);
|
|
|
|
|
Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle);
|
|
|
|
|
Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose);
|
|
|
|
|
Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose);
|
