Euler.h

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#ifndef _GAMS_UTILITY_EULER_H_
#define _GAMS_UTILITY_EULER_H_
 
#include "gams/pose/Euler.h"
#include "gams/utility/AngleUnits.h"
#include "gams/utility/Orientation.h"
#include "gams/utility/Quaternion.h"
 
namespace gams
{
  namespace utility
  {
    namespace euler
    {
      namespace conv
      {
        typedef gams::pose::euler::conv::Intr Intr;
        typedef gams::pose::euler::conv::Extr Extr;
        typedef gams::pose::euler::conv::X X;
        typedef gams::pose::euler::conv::Y Y;
        typedef gams::pose::euler::conv::Z Z;
      } // namespace conv
    }
  }
}
 
namespace gams
{
  namespace utility
  {
    namespace euler
    {
      template<typename A, typename B, typename C, typename Conv = conv::Intr>
      using Euler = gams::pose::euler::Euler<A, B, C, Conv>;
 
      typedef Euler<conv::X, conv::Y, conv::Z>             EulerXYZ;
      typedef Euler<conv::Y, conv::X, conv::Z>             EulerYXZ;
      typedef Euler<conv::X, conv::Y, conv::Z, conv::Intr> EulerIntrXYZ;
      typedef Euler<conv::Y, conv::X, conv::Z, conv::Intr> EulerIntrYXZ;
      typedef Euler<conv::X, conv::Y, conv::Z, conv::Extr> EulerExtrXYZ;
      typedef Euler<conv::Y, conv::X, conv::Z, conv::Extr> EulerExtrYXZ;
      typedef Euler<conv::Z, conv::Y, conv::X>             EulerZYX;
      typedef Euler<conv::Z, conv::Y, conv::X, conv::Intr> EulerIntrZYX;
      typedef Euler<conv::Z, conv::Y, conv::X, conv::Extr> EulerExtrZYX;
 
      typedef EulerIntrXYZ EulerVREP;
 
      typedef EulerIntrZYX EulerYPR;
 
      typedef EulerYPR YawPitchRoll;
 
      typedef EulerExtrXYZ RollPitchYaw;
    }
  }
}
 
#endif