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Commit e3f2f478 authored by Timothy Wiley's avatar Timothy Wiley
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cleanup geometry/quaternion header

parent 58df50c3
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...@@ -125,27 +125,6 @@ inline std::ostream& operator<<(std::ostream& os, const Quaternion& q) { ...@@ -125,27 +125,6 @@ inline std::ostream& operator<<(std::ostream& os, const Quaternion& q) {
return os << "Quaternion(" << q.x << ", " << q.y << ", " << q.z <<", " << q.w << ")"; return os << "Quaternion(" << q.x << ", " << q.y << ", " << q.z <<", " << q.w << ")";
} }
/**
* Getter and setter methods for roll, pitch and yaw in a quaternion.
*/
//inline void getRPY(const geometry_msgs::Quaternion& q, double& roll, double& pitch, double& yaw) {
// btQuaternion btq(q.x, q.y, q.z, q.w);
//// btMatrix3x3(btq).getRPY(roll, pitch, yaw);
// btMatrix3x3(btq).getEulerYPR(yaw, pitch, roll);
//}
//
//inline void setRPY(geometry_msgs::Quaternion& q, const double& roll, const double& pitch, const double& yaw) {
// btQuaternion btq;
// btMatrix3x3 mat;
// mat.setEulerYPR(yaw, pitch, roll);
// mat.getRotation(btq);
//
// q.x = btq.x();
// q.y = btq.y();
// q.z = btq.z();
// q.w = btq.w();
//}
} // namespace crosbot } // namespace crosbot
......
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