orientation_types.hpp

#pragma once
 
#include <viam/sdk/common/proto_convert.hpp>
 
namespace viam {
namespace app {
namespace v1 {
 
class Translation;
}
}  // namespace app
}  // namespace viam
 
namespace viam {
namespace sdk {
 
enum OrientationType {
    AxisAngles,
    OrientationVector,
    OrientationVectorDegrees,
    EulerAngles,
    Quaternion,
};
 
struct axis_angles {
    double x = 0.0, y = 0.0, z = 0.0, theta = 0.0;
};
 
struct euler_angles {
    double yaw = 0.0, roll = 0.0, pitch = 0.0;
};
 
struct orientation_vector {
    double x = 0.0, y = 0.0, z = 0.0, theta = 0.0;
};
 
struct orientation_vector_degrees {
    double x = 0.0, y = 0.0, z = 0.0, theta = 0.0;
};
 
struct quaternion {
    double x = 0.0, y = 0.0, z = 0.0, w = 0.0;
};
 
struct translation {
    double x = 0.0, y = 0.0, z = 0.0;
};
 
namespace proto_convert_details {
 
template <>
struct to_proto_impl<translation> {
    void operator()(const translation&, app::v1::Translation*) const;
};
 
template <>
struct from_proto_impl<app::v1::Translation> {
    translation operator()(const app::v1::Translation*) const;
};
 
}  // namespace proto_convert_details
}  // namespace sdk
}  // namespace viam