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Add forgotten file

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This commit is contained in:
Oleg Kalachev 2023-12-29 18:56:32 +03:00
parent d2296fea76
commit 46ba00fca7
1 changed files with 14 additions and 0 deletions
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14
gazebo/util.h Normal file
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#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());
}