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Add mju_euler2Quat.

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PiperOrigin-RevId: 623469398
Change-Id: Ia86b29a764018cd4c3bc57d23616bed7393081f5
This commit is contained in:
Yuval Tassa
2024-04-10 06:01:40 -07:00
committed by Copybara-Service
parent 2b3f336bd3
commit 5a365603f8
11 changed files with 176 additions and 8 deletions
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src/engine/engine_util_spatial.h
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@@ -75,6 +75,9 @@ MJAPI void mju_negPose(mjtNum posres[3], mjtNum quatres[4],
MJAPI void mju_trnVecPose(mjtNum res[3], const mjtNum pos[3], const mjtNum quat[4],
const mjtNum vec[3]);
// convert sequence of Euler angles (radians) to quaternion
// seq[0,1,2] must be in 'xyzXYZ', lower/upper-case mean intrinsic/extrinsic rotations
MJAPI void mju_euler2Quat(mjtNum quat[4], const mjtNum euler[3], const char* seq);
//------------------------------ spatial algebra ---------------------------------------------------