frameutils.h

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/*
Frame Utils header file
-----------------------
The frame utils class is a class of utilities designed to 
work with frame objects.
 
Author: Alex Reynolds
*/
 
#ifndef FRAMES_FRAME_UTILS_H
#define FRAMES_FRAME_UTILS_H
 
#include "core/clockwerkerrors.h"
#include "core/CartesianVector.hpp"
#include "Frame.h"
 
namespace warptwin {

    int getFrameRelativeDCM(Frame &f1, Frame &f2, clockwerk::DCM &dcm_f1_f2);

    int frameRotate(const clockwerk::CartesianVector<3> &vec__f1, 
                    Frame &f1, 
                    Frame &f2, 
                    clockwerk::CartesianVector<3> &vec__f2);

    int framePositionTransform(const clockwerk::CartesianVector<3> &vec_f1__f1, 
                               Frame &f1, 
                               Frame &f2, 
                               clockwerk::CartesianVector<3> &vec_f2__f2);

    int frameVelocityTransform(const clockwerk::CartesianVector<3> &vel_f1__f1, 
                               const clockwerk::CartesianVector<3> &pos_f1__f1,
                               Frame &f1, 
                               Frame &f2, 
                               clockwerk::CartesianVector<3> &vel_f2__f2);

    clockwerk::DCM getCompositeRotation(clockwerk::DCM &dcm_f1_f2, 
                                        clockwerk::DCM &dcm_f2_f3);

    clockwerk::Quaternion getCompositeRotationQuat(clockwerk::Quaternion &quat_f1_f2, 
                                                   clockwerk::Quaternion &quat_f2_f3);
}
                      
#endif