openpilot_comma/common/transformations/transformations.pxd

# cython: language_level=3
from libcpp cimport bool

cdef extern from "orientation.cc":
  pass

cdef extern from "orientation.hpp":
  cdef cppclass Quaternion "Eigen::Quaterniond":
    Quaternion()
    Quaternion(double, double, double, double)
    double w()
    double x()
    double y()
    double z()

  cdef cppclass Vector3 "Eigen::Vector3d":
    Vector3()
    Vector3(double, double, double)
    double operator()(int)

  cdef cppclass Matrix3 "Eigen::Matrix3d":
    Matrix3()
    Matrix3(double*)

    double operator()(int, int)

  Quaternion euler2quat(Vector3)
  Vector3 quat2euler(Quaternion)
  Matrix3 quat2rot(Quaternion)
  Quaternion rot2quat(Matrix3)
  Vector3 rot2euler(Matrix3)
  Matrix3 euler2rot(Vector3)
  Matrix3 rot_matrix(double, double, double)
  Vector3 ecef_euler_from_ned(ECEF, Vector3)
  Vector3 ned_euler_from_ecef(ECEF, Vector3)


cdef extern from "coordinates.cc":
  cdef struct ECEF:
    double x
    double y
    double z

  cdef struct NED:
    double n
    double e
    double d

  cdef struct Geodetic:
    double lat
    double lon
    double alt
    bool radians

  ECEF geodetic2ecef(Geodetic)
  Geodetic ecef2geodetic(ECEF)

  cdef cppclass LocalCoord_c "LocalCoord":
    Matrix3 ned2ecef_matrix
    Matrix3 ecef2ned_matrix

    LocalCoord_c(Geodetic, ECEF)
    LocalCoord_c(Geodetic)
    LocalCoord_c(ECEF)

    NED ecef2ned(ECEF)
    ECEF ned2ecef(NED)
    NED geodetic2ned(Geodetic)
    Geodetic ned2geodetic(NED)

cdef extern from "coordinates.hpp":
  pass
add Cython static analysis (#31491) * Adding pre-commit hook for cython static analysis * Adding changes to cython files to pass static analysis * Revert "Adding changes to cython files to pass static analysis" This reverts commit 9a0eb733199abd9eef1eac3d024ef2760348d67c. * Adding ignore rule for indentation of 4 spaces (E111) * Fixes for cython-lint static analysis * Revert "Fixes for cython-lint static analysis" This reverts commit 972741735b2bdc73460d65a4d7ea167dfc0f4644. * Adding two new rules into ignore list (2 new lines after difinition of class) * Adding fixes for cython static analysis old-commit-hash: 69fb3c2ed5b41858545461466004339325e413a1 1 year ago			`# cython: language_level=3`
Write orientation & transform in C++ (#1637) * locationd at 20hz * update ref * bump cereal * dont modify global state * add scons files * ecef2geodetic and geodetic2ecef * Finish local coords class * Add header file * Add orientation.cc * cleanup * Add functions to header file * Add cython wrapper * y u no work? * This passes the tests * test rot2quat and quat2rot * Teste euler2rot and rot2euler * rot_matrix * test ecef_euler_from_ned and ned_euler_from_ecef * add benchmark * Add test * Consistent newlines * no more radians supported in geodetic * test localcoord single * test localcoord single * all tests pass * Unused import * Add alternate namings * Add source for formulas * no explicit tests needed * remove benchmark * Add release files * Typo * Remove print statement * no access to raw transform matrix * temporarily add tolerance * handcode quat2euler * update ref old-commit-hash: c18e7da3c25c59a19efda8ec3a1b716c2571cc2f 5 years ago			`from libcpp cimport bool`

			`cdef extern from "orientation.cc":`
			`pass`

			`cdef extern from "orientation.hpp":`
			`cdef cppclass Quaternion "Eigen::Quaterniond":`
			`Quaternion()`
			`Quaternion(double, double, double, double)`
			`double w()`
			`double x()`
			`double y()`
			`double z()`

			`cdef cppclass Vector3 "Eigen::Vector3d":`
			`Vector3()`
			`Vector3(double, double, double)`
			`double operator()(int)`

			`cdef cppclass Matrix3 "Eigen::Matrix3d":`
			`Matrix3()`
			`Matrix3(double*)`

			`double operator()(int, int)`

			`Quaternion euler2quat(Vector3)`
			`Vector3 quat2euler(Quaternion)`
			`Matrix3 quat2rot(Quaternion)`
			`Quaternion rot2quat(Matrix3)`
			`Vector3 rot2euler(Matrix3)`
			`Matrix3 euler2rot(Vector3)`
			`Matrix3 rot_matrix(double, double, double)`
			`Vector3 ecef_euler_from_ned(ECEF, Vector3)`
			`Vector3 ned_euler_from_ecef(ECEF, Vector3)`


			`cdef extern from "coordinates.cc":`
			`cdef struct ECEF:`
			`double x`
			`double y`
			`double z`

			`cdef struct NED:`
			`double n`
			`double e`
			`double d`

			`cdef struct Geodetic:`
			`double lat`
			`double lon`
			`double alt`
			`bool radians`

			`ECEF geodetic2ecef(Geodetic)`
			`Geodetic ecef2geodetic(ECEF)`

			`cdef cppclass LocalCoord_c "LocalCoord":`
add getter for LocalCoord transformation matrices old-commit-hash: 29262db5d63f0e5d65c2f00d4929991fb2e0d848 5 years ago			`Matrix3 ned2ecef_matrix`
			`Matrix3 ecef2ned_matrix`

Write orientation & transform in C++ (#1637) * locationd at 20hz * update ref * bump cereal * dont modify global state * add scons files * ecef2geodetic and geodetic2ecef * Finish local coords class * Add header file * Add orientation.cc * cleanup * Add functions to header file * Add cython wrapper * y u no work? * This passes the tests * test rot2quat and quat2rot * Teste euler2rot and rot2euler * rot_matrix * test ecef_euler_from_ned and ned_euler_from_ecef * add benchmark * Add test * Consistent newlines * no more radians supported in geodetic * test localcoord single * test localcoord single * all tests pass * Unused import * Add alternate namings * Add source for formulas * no explicit tests needed * remove benchmark * Add release files * Typo * Remove print statement * no access to raw transform matrix * temporarily add tolerance * handcode quat2euler * update ref old-commit-hash: c18e7da3c25c59a19efda8ec3a1b716c2571cc2f 5 years ago			`LocalCoord_c(Geodetic, ECEF)`
			`LocalCoord_c(Geodetic)`
			`LocalCoord_c(ECEF)`

			`NED ecef2ned(ECEF)`
			`ECEF ned2ecef(NED)`
			`NED geodetic2ned(Geodetic)`
			`Geodetic ned2geodetic(NED)`

			`cdef extern from "coordinates.hpp":`
			`pass`