4 * Copyright (c) 2014 Samsung Electronics Co., Ltd.
6 * Licensed under the Apache License, Version 2.0 (the "License");
7 * you may not use this file except in compliance with the License.
8 * You may obtain a copy of the License at
10 * http://www.apache.org/licenses/LICENSE-2.0
12 * Unless required by applicable law or agreed to in writing, software
13 * distributed under the License is distributed on an "AS IS" BASIS,
14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15 * See the License for the specific language governing permissions and
16 * limitations under the License.
20 #ifndef _EULER_ANGLES_H_
21 #define _EULER_ANGLES_H_
24 #include "quaternion.h"
25 #include "rotation_matrix.h"
29 template <typename TYPE>
32 vect<TYPE, EULER_SIZE> m_ang;
35 euler_angles(const TYPE roll, const TYPE pitch, const TYPE azimuth);
36 euler_angles(const vect<TYPE, EULER_SIZE> v);
37 euler_angles(const euler_angles<TYPE>& e);
40 euler_angles<TYPE> operator =(const euler_angles<TYPE>& e);
42 template<typename T> friend euler_angles<T> quat2euler(const quaternion<T> q);
43 template<typename T> friend quaternion<T> euler2quat(euler_angles<T> euler);
44 template<typename T> friend euler_angles<T> rad2deg(const euler_angles<T> e);
45 template<typename T> friend euler_angles<T> deg2rad(const euler_angles<T> e);
48 #include "euler_angles.cpp"
50 #endif //_EULER_ANGLES_H_