From 46ba00fca7cf87524b2eed33926978b7787ad10b Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 29 Dec 2023 18:56:32 +0300
Subject: [PATCH] Add forgotten file

---
 gazebo/util.h | 14 ++++++++++++++
 1 file changed, 14 insertions(+)
 create mode 100644 gazebo/util.h

diff --git a/gazebo/util.h b/gazebo/util.h
new file mode 100644
index 0000000..7467a2c
--- /dev/null
+++ b/gazebo/util.h
@@ -0,0 +1,14 @@
+#include <ignition/math/Vector3.hh>
+#include <ignition/math/Pose3.hh>
+
+using ignition::math::Vector3d;
+using ignition::math::Pose3d;
+
+Pose3d flu2frd(const Pose3d& p) {
+	return ignition::math::Pose3d(p.Pos().X(), -p.Pos().Y(), -p.Pos().Z(),
+	                              p.Rot().W(), p.Rot().X(), -p.Rot().Y(), -p.Rot().Z());
+}
+
+Vector flu2frd(const Vector3d& v) {
+	return Vector(v.X(), -v.Y(), -v.Z());
+}