lmc_math.h

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#ifndef LMC_MATH
#define LMC_MATH

#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */

typedef struct lmc_translation {
  double x; 
  double y; 
  double z; 
} lmc_translation_t;

typedef struct lmc_rpy {
  double r; 
  double p; 
  double y; 
} lmc_rpy_t;

typedef struct lmc_euler_zyx {
  double alpha; 
  double beta;  
  double gamma; 
} lmc_euler_zyx_t;

typedef struct lmc_euler_zyz {
  double alpha; 
  double beta;  
  double gamma; 
} lmc_euler_zyz_t;

typedef struct lmc_quaternion {
  double x; 
  double y; 
  double z; 
  double w; 
} lmc_quaternion_t;

typedef struct lmc_transform {
  lmc_euler_zyx_t rotation; 
  lmc_translation_t pose;   
} lmc_transform_t;

typedef struct lmc_twist {
  lmc_translation_t trans; 
  lmc_translation_t rot;   
} lmc_twist_t;

typedef struct lmc_wrench {
  lmc_translation_t force;  
  lmc_translation_t torque; 
} lmc_wrench_t;

void lmc_euler_zyx_to_quaternion(lmc_euler_zyx_t const* const euler,
                                 lmc_quaternion_t* const quat);

void lmc_quaternion_to_euler_zyx(lmc_quaternion_t const* const quat,
                                 lmc_euler_zyx_t* const euler);

void lmc_euler_zyx_to_euler_zyz(lmc_euler_zyx_t const* const euler_zyx,
                                lmc_euler_zyz_t* const euler_zyz);

void lmc_euler_zyz_to_euler_zyx(lmc_euler_zyz_t const* const euler_zyz,
                                lmc_euler_zyx_t* const euler_zyx);

void lmc_euler_zyz_to_quaternion(lmc_euler_zyz_t const* const euler,
                                 lmc_quaternion_t* const quat);

void lmc_quaternion_to_euler_zyz(lmc_quaternion_t const* const quat,
                                 lmc_euler_zyz_t* const euler);

// /**
//  * Example usage code:
//  *
//  *     lmc_quaternion_t quaternion;
//  *     lmc_euler_t euler_result;
//  *     lmc_quaternion_to_euler(&quaternion, &euler_result);
//  *
//  *
//  * \brief           Math function to transfomr a twist(cartesian velocity).
//  * \param[in]       t_in: twist in coodinate.
//  * \param[in]       transform: coodinate pose.
//  * \param[out]      t_out: Euler zyx data output.
//  */
// void lmc_transform_twist(lmc_twist_t const* const t, lmc_transform_t const*
// const transform,lmc_twist_t * const t_out);

#ifdef __cplusplus
}
#endif /* __cplusplus */

#endif /* LMC_MATH */