axisangle.h

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#pragma once
 
#include <iostream>
 
#include "eu/base/vec3.h"
#include "eu/base/angle.h"
 
 
namespace eu
{
 
    struct Q;

    struct AA
    {
        n3 axis;

        An angle;
 
        AA(const n3 &ax, const An &ang);
 
        [[nodiscard]] static AA from(const Q& q);
    };

    struct Ypr
    {
        An yaw = no_rotation;

        An pitch = no_rotation;

        An roll = no_rotation;
 
        [[nodiscard]] static Ypr from(const Q& q);
    };
 
    [[nodiscard]] AA
    rha(const n3& axis, const An& angle);
 
    std::string string_from(const AA &aa);
    std::string string_from(const Ypr& ypr);

 
    ADD_CATCH_FORMATTER_DEF(AA)
    ADD_CATCH_FORMATTER_DEF(Ypr)
}
 
ADD_DEFAULT_FORMATTER(eu::AA, std::string, eu::string_from);
ADD_DEFAULT_FORMATTER(eu::Ypr, std::string, eu::string_from);