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Merge remote-tracking branch 'tier4/master' into RJD-1057-remove-func…
…tions-forwarded-to-entity-base-middle-get-entity Signed-off-by: Mateusz Palczuk <[email protected]>
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| <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <package format="3"> | ||
| <name>arithmetic</name> | ||
| <version>7.4.7</version> | ||
| <version>9.0.3</version> | ||
| <description>arithmetic library for scenario_simulator_v2</description> | ||
| <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer> | ||
| <license>Apache License 2.0</license> | ||
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46 changes: 46 additions & 0 deletions
46
common/math/geometry/include/geometry/quaternion/direction_to_quaternion.hpp
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| // Copyright 2015 TIER IV, Inc. All rights reserved. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef GEOMETRY__QUATERNION__DIRECTION_TO_QUATERNION_HPP_ | ||
| #define GEOMETRY__QUATERNION__DIRECTION_TO_QUATERNION_HPP_ | ||
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| #include <cmath> | ||
| #include <geometry/quaternion/euler_to_quaternion.hpp> | ||
| #include <geometry/vector3/is_like_vector3.hpp> | ||
| #include <geometry_msgs/msg/quaternion.hpp> | ||
| #include <geometry_msgs/msg/vector3.hpp> | ||
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| namespace math | ||
| { | ||
| namespace geometry | ||
| { | ||
| auto convertDirectionToQuaternion(const double dx, const double dy, const double dz) | ||
| { | ||
| const auto euler_angles = geometry_msgs::build<geometry_msgs::msg::Vector3>() | ||
| .x(0.0) | ||
| .y(std::atan2(-dz, std::hypot(dx, dy))) | ||
| .z(std::atan2(dy, dx)); | ||
| return math::geometry::convertEulerAngleToQuaternion(euler_angles); | ||
| } | ||
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| template < | ||
| typename T, std::enable_if_t<std::conjunction_v<IsLikeVector3<T>>, std::nullptr_t> = nullptr> | ||
| auto convertDirectionToQuaternion(const T & v) | ||
| { | ||
| return convertDirectionToQuaternion(v.x, v.y, v.z); | ||
| } | ||
| } // namespace geometry | ||
| } // namespace math | ||
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| #endif // GEOMETRY__QUATERNION__DIRECTION_TO_QUATERNION_HPP_ |
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| Original file line number | Diff line number | Diff line change |
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| <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <package format="3"> | ||
| <name>geometry</name> | ||
| <version>7.4.7</version> | ||
| <version>9.0.3</version> | ||
| <description>geometry math library for scenario_simulator_v2 application</description> | ||
| <maintainer email="[email protected]">Masaya Kataoka</maintainer> | ||
| <license>Apache License 2.0</license> | ||
|
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| Original file line number | Diff line number | Diff line change |
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| <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <package format="3"> | ||
| <name>scenario_simulator_exception</name> | ||
| <version>7.4.7</version> | ||
| <version>9.0.3</version> | ||
| <description>Exception types for scenario simulator</description> | ||
| <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer> | ||
| <license>Apache License 2.0</license> | ||
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