Program Listing for File filter-utilities.h

Return to documentation for file (algorithms/localization-fusion/include/localization-fusion/filter-utilities.h)

#ifndef LOCALIZATION_FUSION_FILTER_UTILITIES_H_
#define LOCALIZATION_FUSION_FILTER_UTILITIES_H_

#include <iomanip>
#include <iostream>
#include <string>
#include <vector>

#include <Eigen/Dense>

std::ostream& operator<<(std::ostream& os, const Eigen::MatrixXd& mat);
std::ostream& operator<<(std::ostream& os, const Eigen::VectorXd& vec);
std::ostream& operator<<(std::ostream& os, const std::vector<size_t>& vec);
std::ostream& operator<<(std::ostream& os, const std::vector<int>& vec);

namespace maplab {

double clampRotation(double rotation);

void RPYtoQuaternion(
    double r, double p, double y,
    Eigen::Quaterniond& q);  // NOLINT

void matrixToRPY(
    const Eigen::Matrix3d& m, double& yaw,  // NOLINT
    double& pitch,                          // NOLINT
    double& roll);                          // NOLINT

}  // namespace maplab

#endif  // LOCALIZATION_FUSION_FILTER_UTILITIES_H_