| Line |
Branch |
Exec |
Source |
| 1 |
|
|
#pragma once |
| 2 |
|
|
|
| 3 |
|
|
#include <iostream> |
| 4 |
|
|
|
| 5 |
|
|
#include "base/vec3.h" |
| 6 |
|
|
#include "base/angle.h" |
| 7 |
|
|
|
| 8 |
|
|
|
| 9 |
|
|
namespace eu |
| 10 |
|
|
{ |
| 11 |
|
|
/** \addtogroup math |
| 12 |
|
|
* @{ |
| 13 |
|
|
*/ |
| 14 |
|
|
|
| 15 |
|
|
struct Q; |
| 16 |
|
|
|
| 17 |
|
|
/// Axis + Angle |
| 18 |
|
|
struct AA |
| 19 |
|
|
{ |
| 20 |
|
|
/// a unit-vector |
| 21 |
|
|
n3 axis; |
| 22 |
|
|
|
| 23 |
|
|
/// rotation according to right-hand rule |
| 24 |
|
|
An angle; |
| 25 |
|
|
|
| 26 |
|
|
AA(const n3 &ax, const An &ang); |
| 27 |
|
|
|
| 28 |
|
|
[[nodiscard]] static std::optional<AA> from(const Q& q); |
| 29 |
|
|
}; |
| 30 |
|
|
|
| 31 |
|
|
/// yaw + pitch + roll |
| 32 |
|
|
struct Ypr |
| 33 |
|
|
{ |
| 34 |
|
|
An yaw = no_rotation; |
| 35 |
|
|
An pitch = no_rotation; |
| 36 |
|
|
An roll = no_rotation; |
| 37 |
|
|
}; |
| 38 |
|
|
|
| 39 |
|
|
[[nodiscard]] AA |
| 40 |
|
|
rha(const n3& axis, const An& angle); |
| 41 |
|
|
|
| 42 |
|
|
std::string string_from(const AA &aa); |
| 43 |
|
|
std::string string_from(const Ypr& ypr); |
| 44 |
|
|
|
| 45 |
|
|
/** @}*/ |
| 46 |
|
|
|
| 47 |
|
|
ADD_CATCH_FORMATTER_DEF(AA) |
| 48 |
|
|
ADD_CATCH_FORMATTER_DEF(Ypr) |
| 49 |
|
|
} |
| 50 |
|
|
|
| 51 |
1/2
✓ Branch 0 (2 → 3) taken 2 times.
✗ Branch 1 (2 → 17) not taken.
|
4 |
ADD_DEFAULT_FORMATTER(eu::AA, std::string, eu::string_from); |
| 52 |
1/2
✓ Branch 0 (2 → 3) taken 1 times.
✗ Branch 1 (2 → 17) not taken.
|
2 |
ADD_DEFAULT_FORMATTER(eu::Ypr, std::string, eu::string_from); |
| 53 |
|
|
|