.. _program_listing_file_conversions_attitude_conversions.h:

Program Listing for File attitude_conversions.h
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file_conversions_attitude_conversions.h>` (``conversions/attitude_conversions.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   
   #pragma once
   
   #include "lupnt/core/constants.h"
   #include "lupnt/numerics/vector_macros.h"
   #include "lupnt/states/state.h"
   
   namespace lupnt {
   
     Vec3 RotToAngularVelocity(const Mat3& rot_b2w, const Mat3& rot_dot_b2w);
   
     State ScalarFirstToLast(const State& quat);
     State ScalarLastToFirst(const State& quat);
     State NormalizeQuat(const State& quat);
   
     Mat3 QuatToRot(const State& quat);
     State RotToQuat(const Mat3& rot);
   
     Mat3 RollPitchYawToRot(const Vec3& rpy);
     Vec3 RotToRollPitchYaw(const Mat3& rot);
   
     // Vector definitions
     VEC_DEF_VECTOR(ScalarFirstToLast, 4);
     VEC_DEF_VECTOR(ScalarLastToFirst, 4);
     VEC_DEF_VECTOR(NormalizeQuat, 4);
   
   }  // namespace lupnt