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#cython: language_level=3
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from libcpp cimport bool
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cdef extern from "orientation.cc":
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pass
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cdef extern from "orientation.hpp":
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cdef cppclass Quaternion "Eigen::Quaterniond":
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Quaternion()
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Quaternion(double, double, double, double)
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double w()
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double x()
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double y()
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double z()
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cdef cppclass Vector3 "Eigen::Vector3d":
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Vector3()
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Vector3(double, double, double)
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double operator()(int)
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cdef cppclass Matrix3 "Eigen::Matrix3d":
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Matrix3()
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Matrix3(double*)
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double operator()(int, int)
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Quaternion euler2quat(Vector3)
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Vector3 quat2euler(Quaternion)
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Matrix3 quat2rot(Quaternion)
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Quaternion rot2quat(Matrix3)
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Vector3 rot2euler(Matrix3)
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Matrix3 euler2rot(Vector3)
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Matrix3 rot_matrix(double, double, double)
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Vector3 ecef_euler_from_ned(ECEF, Vector3)
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Vector3 ned_euler_from_ecef(ECEF, Vector3)
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cdef extern from "coordinates.cc":
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cdef struct ECEF:
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double x
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double y
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double z
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cdef struct NED:
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double n
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double e
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double d
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cdef struct Geodetic:
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double lat
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double lon
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double alt
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bool radians
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ECEF geodetic2ecef(Geodetic)
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Geodetic ecef2geodetic(ECEF)
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cdef cppclass LocalCoord_c "LocalCoord":
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Matrix3 ned2ecef_matrix
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Matrix3 ecef2ned_matrix
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LocalCoord_c(Geodetic, ECEF)
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LocalCoord_c(Geodetic)
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LocalCoord_c(ECEF)
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NED ecef2ned(ECEF)
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ECEF ned2ecef(NED)
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NED geodetic2ned(Geodetic)
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Geodetic ned2geodetic(NED)
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cdef extern from "coordinates.hpp":
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pass
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