Program Listing for File attitude_conversions.h

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#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