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15 lines
406 B
C++
15 lines
406 B
C++
#include <ignition/math/Vector3.hh>
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#include <ignition/math/Pose3.hh>
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using ignition::math::Vector3d;
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using ignition::math::Pose3d;
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Pose3d flu2frd(const Pose3d& p) {
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return ignition::math::Pose3d(p.Pos().X(), -p.Pos().Y(), -p.Pos().Z(),
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p.Rot().W(), p.Rot().X(), -p.Rot().Y(), -p.Rot().Z());
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}
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Vector flu2frd(const Vector3d& v) {
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return Vector(v.X(), -v.Y(), -v.Z());
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}
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