AttitudeUtil.hpp

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#pragma once
 
#include "AstGlobal.h"
#include "AstMath/Vector.hpp"
#include "AstMath/Quaternion.hpp"
#include "AstMath/Rotation.hpp"
#include "AstMath/KinematicRotation.hpp"
 
AST_NAMESPACE_BEGIN
 
AST_MATH_API void aQuatAverageAngularVelocity(const Quaternion& q1, const Quaternion& q2, double dt, Vector3d& angvel);
 
 
A_ALWAYS_INLINE Vector3d aQuatAverageAngularVelocity(const Quaternion& q1, const Quaternion& q2, double dt)
{
    Vector3d angvel;
    aQuatAverageAngularVelocity(q1, q2, dt, angvel);
    return angvel;
}
 
 
AST_MATH_API errc_t aAlignConstrainTransform(
    const Vector3d& axesVector1, const Vector3d& refVector1,
    const Vector3d& axesVector2, const Vector3d& refVector2,
    Rotation& rotation);
 
 
AST_MATH_API errc_t aAlignConstrainTransform(
    const Vector3d& axesVector1, const Vector3d& refVector1, const Vector3d& refRate1,
    const Vector3d& axesVector2, const Vector3d& refVector2, const Vector3d& refRate2,
    KinematicRotation& rotation);
 
 
AST_NAMESPACE_END