euler_rotations.h

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#pragma once
 
#include <iostream>
#include <vector>
#include <eigen3/Eigen/Dense>
 
 
class EulerRotations
{
public:
    // -------------------- Methods -------------------- //
 
    struct Quaternions { double w, x, y, z; };
 
    struct Euler{ double phi, theta, psi; };
 
    static Quaternions euler_to_quaternions(double phi, double
        theta, double psi);
 
    static Euler quaternions_to_euler(double w, double x, double y, 
        double z);
 
public:
    static Eigen::Matrix3d basic_rotation_x(double x);
 
    static Eigen::Matrix3d basic_rotation_y(double x);
 
    static Eigen::Matrix3d basic_rotation_z(double x);
 
    static Eigen::Matrix3d rotation(double phi, double theta, double psi);
    static Eigen::Matrix3d rotation(Eigen::Vector3d euler_angles);
    static Eigen::Matrix3d rotation(std::vector<double> euler_angles);
    static Eigen::Matrix3d rotation(Euler euler_angles);
};