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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="preprocessor">#ifndef _VN_MATH_CONVERSIONS_H_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="preprocessor">#define _VN_MATH_CONVERSIONS_H_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;</div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="preprocessor">#include &quot;export.h&quot;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="vector_8h.html">vector.h</a>&quot;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="matrix_8h.html">matrix.h</a>&quot;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;</div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacevn.html">vn</a> {</div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="keyword">namespace </span>math {</div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;</div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;</div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="keywordtype">float</span> <a class="code" href="group__angle__convertors.html#ga6e6f205e258615efaacfbf1ab29a8f77">rad2deg</a>(<span class="keywordtype">float</span> angleInRads);</div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;<span class="keywordtype">double</span> <a class="code" href="group__angle__convertors.html#ga6e6f205e258615efaacfbf1ab29a8f77">rad2deg</a>(<span class="keywordtype">double</span> angleInRads);</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;<span class="keyword">template</span>&lt;<span class="keywordtype">size_t</span> dim&gt;</div>
<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="group__angle__convertors.html#ga6e6f205e258615efaacfbf1ab29a8f77"> 32</a></span>&#160;<a class="code" href="structvn_1_1math_1_1vec.html">vec&lt;dim, float&gt;</a> <a class="code" href="group__angle__convertors.html#ga6e6f205e258615efaacfbf1ab29a8f77">rad2deg</a>(<a class="code" href="structvn_1_1math_1_1vec.html">vec&lt;dim&gt;</a> anglesInRads)</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;{</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160; <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; dim; i++)</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160; anglesInRads[i] = <a class="code" href="group__angle__convertors.html#ga6e6f205e258615efaacfbf1ab29a8f77">rad2deg</a>(anglesInRads[i]);</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160;</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160; <span class="keywordflow">return</span> anglesInRads;</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160;}</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160;</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160;<span class="keywordtype">float</span> vn_proglib_DLLEXPORT <a class="code" href="group__angle__convertors.html#gaa40a2c9e80be04d035121bf825cd8236">deg2rad</a>(<span class="keywordtype">float</span> angleInDegs);</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160;</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160;<span class="keywordtype">double</span> vn_proglib_DLLEXPORT <a class="code" href="group__angle__convertors.html#gaa40a2c9e80be04d035121bf825cd8236">deg2rad</a>(<span class="keywordtype">double</span> angleInDegs);</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160;</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160;<span class="comment">//template&lt;size_t dim&gt;</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160;<span class="comment">//vec&lt;dim, float&gt; vn_proglib_DLLEXPORT deg2rad(vec&lt;dim&gt; anglesInDegs)</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160;<span class="keyword">template</span>&lt;<span class="keywordtype">size_t</span> dim&gt;</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="group__angle__convertors.html#gaa40a2c9e80be04d035121bf825cd8236"> 59</a></span>&#160;<a class="code" href="structvn_1_1math_1_1vec.html">vec&lt;dim, float&gt;</a> <a class="code" href="group__angle__convertors.html#gaa40a2c9e80be04d035121bf825cd8236">deg2rad</a>(<a class="code" href="structvn_1_1math_1_1vec.html">vec&lt;dim&gt;</a> anglesInDegs)</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160;{</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160; <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; dim; i++)</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160; anglesInDegs[i] = <a class="code" href="group__angle__convertors.html#gaa40a2c9e80be04d035121bf825cd8236">deg2rad</a>(anglesInDegs[i]);</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160;</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160; <span class="keywordflow">return</span> anglesInDegs;</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160;}</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160;</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160;</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160;</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160;<span class="keywordtype">float</span> <a class="code" href="group__temperature__convertors.html#gab537ff75f6c6ae8c4f08c31bcc5235fc">celsius2fahren</a>(<span class="keywordtype">float</span> tempInCelsius);</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160;</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160;<span class="keywordtype">double</span> <a class="code" href="group__temperature__convertors.html#gab537ff75f6c6ae8c4f08c31bcc5235fc">celsius2fahren</a>(<span class="keywordtype">double</span> tempInCelsius);</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160;</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>&#160;<span class="keywordtype">float</span> <a class="code" href="group__temperature__convertors.html#ga00080ee459a1cc0d8c4377f0d2e8248e">fahren2celsius</a>(<span class="keywordtype">float</span> tempInFahren);</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160;</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>&#160;<span class="keywordtype">double</span> <a class="code" href="group__temperature__convertors.html#ga00080ee459a1cc0d8c4377f0d2e8248e">fahren2celsius</a>(<span class="keywordtype">double</span> tempInFahren);</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>&#160;</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>&#160;<span class="keywordtype">float</span> <a class="code" href="group__temperature__convertors.html#ga7cf3a642ba4c9d7c3d1896c17569197d">celsius2kelvin</a>(<span class="keywordtype">float</span> tempInCelsius);</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>&#160;</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>&#160;<span class="keywordtype">double</span> <a class="code" href="group__temperature__convertors.html#ga7cf3a642ba4c9d7c3d1896c17569197d">celsius2kelvin</a>(<span class="keywordtype">double</span> tempInCelsius);</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>&#160;</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>&#160;<span class="keywordtype">float</span> <a class="code" href="group__temperature__convertors.html#ga6e4ef8354e6089e716b2d3be6a2b8333">kelvin2celsius</a>(<span class="keywordtype">float</span> tempInKelvin);</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>&#160;</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>&#160;<span class="keywordtype">double</span> <a class="code" href="group__temperature__convertors.html#ga6e4ef8354e6089e716b2d3be6a2b8333">kelvin2celsius</a>(<span class="keywordtype">double</span> tempInKelvin);</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>&#160;</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>&#160;<span class="keywordtype">float</span> <a class="code" href="group__temperature__convertors.html#ga6acaad6a5a9028df0da6dad5dad1a24a">fahren2kelvin</a>(<span class="keywordtype">float</span> tempInFahren);</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>&#160;</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>&#160;<span class="keywordtype">double</span> <a class="code" href="group__temperature__convertors.html#ga6acaad6a5a9028df0da6dad5dad1a24a">fahren2kelvin</a>(<span class="keywordtype">double</span> tempInFahren);</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>&#160;</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>&#160;<span class="keywordtype">float</span> <a class="code" href="group__temperature__convertors.html#gaa6a52ea01238c0b7a544bc8efe14a404">kelvin2fahren</a>(<span class="keywordtype">float</span> tempInKelvin);</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>&#160;</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>&#160;<span class="keywordtype">double</span> <a class="code" href="group__temperature__convertors.html#gaa6a52ea01238c0b7a544bc8efe14a404">kelvin2fahren</a>(<span class="keywordtype">double</span> tempInKelvin);</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>&#160;</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>&#160;</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>&#160;vec4f yprInDegs2Quat(vec3f yprInDegs);</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>&#160;</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>&#160;vec4f yprInRads2Quat(vec3f yprInRads);</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>&#160;</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>&#160;mat3f yprInDegs2Dcm(vec3f yprInDegs);</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>&#160;</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>&#160;mat3f yprInRads2Dcm(vec3f yprInRads);</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>&#160;</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>&#160;vec3f quat2YprInDegs(vec4f quat);</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>&#160;</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>&#160;vec3f quat2YprInRads(vec4f quat);</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>&#160;</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>&#160;mat3f quat2dcm(vec4f quat);</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>&#160;</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>&#160;vec3f dcm2YprInDegs(mat3f dcm);</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>&#160;</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>&#160;vec3f dcm2YprInRads(mat3f dcm);</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>&#160;</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>&#160;vec4f dcm2quat(mat3f dcm);</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>&#160;</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>&#160;<span class="keywordtype">float</span> vn_proglib_DLLEXPORT course_over_ground(<span class="keywordtype">float</span> velNedX, <span class="keywordtype">float</span> velNedY);</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>&#160;</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>&#160;<span class="keywordtype">float</span> vn_proglib_DLLEXPORT course_over_ground(vec3f velNed);</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>&#160;</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>&#160;<span class="keywordtype">float</span> vn_proglib_DLLEXPORT speed_over_ground(<span class="keywordtype">float</span> velNedX, <span class="keywordtype">float</span> velNedY);</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>&#160;</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>&#160;<span class="keywordtype">float</span> vn_proglib_DLLEXPORT speed_over_ground(vec3f velNed);</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>&#160;</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>&#160;vec3f vn_proglib_DLLEXPORT quat2omegaPhiKappaInRads(vec4f quat);</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>&#160;</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>&#160;vec3f vn_proglib_DLLEXPORT dcm2omegaPhiKappaInRads(mat3f dcm);</div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>&#160;</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>&#160;vec3f vn_proglib_DLLEXPORT yprInDegs2omegaPhiKappaInRads(vec3f yprDegs);</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>&#160;</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>&#160;vec3f vn_proglib_DLLEXPORT yprInRads2omegaPhiKappaInRads(vec3f yprRads);</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>&#160;</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>&#160;}</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>&#160;}</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>&#160;</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="group__angle__convertors_html_gaa40a2c9e80be04d035121bf825cd8236"><div class="ttname"><a href="group__angle__convertors.html#gaa40a2c9e80be04d035121bf825cd8236">vn::math::deg2rad</a></div><div class="ttdeci">vec&lt; dim, float &gt; deg2rad(vec&lt; dim &gt; anglesInDegs)</div><div class="ttdoc">Convers a vector of angles in degrees to radians. </div><div class="ttdef"><b>Definition:</b> conversions.h:59</div></div>
<div class="ttc" id="group__temperature__convertors_html_ga6acaad6a5a9028df0da6dad5dad1a24a"><div class="ttname"><a href="group__temperature__convertors.html#ga6acaad6a5a9028df0da6dad5dad1a24a">vn::math::fahren2kelvin</a></div><div class="ttdeci">double fahren2kelvin(double tempInFahren)</div><div class="ttdoc">Converts a temperature in Fahrenheit to Kelvin. </div></div>
<div class="ttc" id="structvn_1_1math_1_1vec_html"><div class="ttname"><a href="structvn_1_1math_1_1vec.html">vn::math::vec</a></div><div class="ttdoc">Template for a Euclidean vector. </div><div class="ttdef"><b>Definition:</b> vector.h:22</div></div>
<div class="ttc" id="group__temperature__convertors_html_ga6e4ef8354e6089e716b2d3be6a2b8333"><div class="ttname"><a href="group__temperature__convertors.html#ga6e4ef8354e6089e716b2d3be6a2b8333">vn::math::kelvin2celsius</a></div><div class="ttdeci">double kelvin2celsius(double tempInKelvin)</div><div class="ttdoc">Converts a temperature in Kelvin to Celsius. </div></div>
<div class="ttc" id="group__temperature__convertors_html_gab537ff75f6c6ae8c4f08c31bcc5235fc"><div class="ttname"><a href="group__temperature__convertors.html#gab537ff75f6c6ae8c4f08c31bcc5235fc">vn::math::celsius2fahren</a></div><div class="ttdeci">double celsius2fahren(double tempInCelsius)</div><div class="ttdoc">Converts a temperature in Celsius to Fahrenheit. </div></div>
<div class="ttc" id="group__temperature__convertors_html_ga00080ee459a1cc0d8c4377f0d2e8248e"><div class="ttname"><a href="group__temperature__convertors.html#ga00080ee459a1cc0d8c4377f0d2e8248e">vn::math::fahren2celsius</a></div><div class="ttdeci">double fahren2celsius(double tempInFahren)</div><div class="ttdoc">Converts a temperature in Fahrenheit to Celsius. </div></div>
<div class="ttc" id="matrix_8h_html"><div class="ttname"><a href="matrix_8h.html">matrix.h</a></div></div>
<div class="ttc" id="group__angle__convertors_html_ga6e6f205e258615efaacfbf1ab29a8f77"><div class="ttname"><a href="group__angle__convertors.html#ga6e6f205e258615efaacfbf1ab29a8f77">vn::math::rad2deg</a></div><div class="ttdeci">vec&lt; dim, float &gt; rad2deg(vec&lt; dim &gt; anglesInRads)</div><div class="ttdoc">Convers a vector of angles in radians to degrees. </div><div class="ttdef"><b>Definition:</b> conversions.h:32</div></div>
<div class="ttc" id="group__temperature__convertors_html_gaa6a52ea01238c0b7a544bc8efe14a404"><div class="ttname"><a href="group__temperature__convertors.html#gaa6a52ea01238c0b7a544bc8efe14a404">vn::math::kelvin2fahren</a></div><div class="ttdeci">double kelvin2fahren(double tempInKelvin)</div><div class="ttdoc">Converts a temperature in Kelvin to Fahrenheit. </div></div>
<div class="ttc" id="vector_8h_html"><div class="ttname"><a href="vector_8h.html">vector.h</a></div></div>
<div class="ttc" id="namespacevn_html"><div class="ttname"><a href="namespacevn.html">vn</a></div><div class="ttdef"><b>Definition:</b> attitude.h:8</div></div>
<div class="ttc" id="group__temperature__convertors_html_ga7cf3a642ba4c9d7c3d1896c17569197d"><div class="ttname"><a href="group__temperature__convertors.html#ga7cf3a642ba4c9d7c3d1896c17569197d">vn::math::celsius2kelvin</a></div><div class="ttdeci">double celsius2kelvin(double tempInCelsius)</div><div class="ttdoc">Converts a temperature in Celsius to Kelvin. </div></div>
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