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AP_Math: allow conversion of a quaternion into an rpy Vector3f 

There are several places in the code that can use this
This commit is contained in:
Peter Barker 2023-03-04 10:24:57 +11:00 committed by Peter Barker
parent 4b5570886f
commit 0b2e1e7989
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_Math/quaternion.h
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@ -131,7 +131,13 @@ public:
// create eulers (in radians) from a quaternion
void to_euler(float &roll, float &pitch, float &yaw) const;
void to_euler(Vector3f &rpy) const {
to_euler(rpy.x, rpy.y, rpy.z);
}
void to_euler(double &roll, double &pitch, double &yaw) const;
void to_euler(Vector3d &rpy) const {
to_euler(rpy.x, rpy.y, rpy.z);
}
// create eulers from a quaternion
Vector3<T> to_vector312(void) const;