ADD: added eulerconversions for the heading pitch and roll; ADD: added a oriatation class

include/SimCore/EulerConversion.hpp

@@ -0,0 +1,103 @@
+#pragma once
+#include <cmath>
+#include <math.h>
+
+namespace SimCore {
+
+    class EulerConversions{
+    public: 
+    
+    /**
+     * Gets a degree heading for an entity based on euler angles. All angular
+     * values passed in must be in radians.
+     *
+     * @param lat Entity's latitude, IN RADIANS
+     * @param lon Entity's longitude, IN RADIANS
+     * @param psi Psi angle, IN RADIANS
+     * @param theta Theta angle, IN RADIANS
+     * @return the heading, in degrees, with 0 being north, positive angles
+     * going clockwise, and negative angles going counterclockwise (i.e., 90 deg
+     * is east, -90 is west)
+     */
+    static double getOrientationFromEuler(double lat, double lon, double psi, double theta);
+
+    /**
+     * Gets a degree pitch for an entity based on euler angles. All angular
+     * values passed in must be in radians.
+     *
+     * @param lat Entity's latitude, IN RADIANS
+     * @param lon Entity's longitude, IN RADIANS
+     * @param psi Psi angle, IN RADIANS
+     * @param theta Theta angle, IN RADIANS
+     * @return the pitch, in degrees, with 0 being level. A negative values is
+     * when the entity's nose is pointing downward, positive value is when the
+     * entity's nose is pointing upward.
+     */
+     static double getPitchFromEuler(double lat, double lon, double psi, double theta);
+
+/**
+     * Gets the degree roll for an entity based on euler angles. All angular
+     * values passed in must be in radians.
+     *
+     * @param lat Entity's latitude, IN RADIANS
+     * @param lon Entity's longitude, IN RADIANS
+     * @param psi Psi angle, IN RADIANS
+     * @param theta Theta angle, IN RADIANS
+     * @param phi Phi angle, IN RADIANS
+     * @return the roll, in degrees, with 0 being level flight, + roll is
+     * clockwise when looking out the front of the entity.
+     */
+     static double getRollFromEuler(double lat, double lon, double psi, double theta, double phi);
+
+    /**
+     * Gets the Euler Theta value (in radians) from position and Tait-Brayn yaw
+     * and pitch angles
+     *
+     * @param lat Entity's latitude, IN RADIANS
+     * @param lon Entity's longitude, IN RADIANS
+     * @param yaw entity's yaw angle (also know as the entity's bearing or
+     * heading angle), in degrees
+     * @param pitch entity's pitch angle, in degrees
+     * @return the Theta value in radians
+     */
+     static double getThetaFromTaitBryanAngles(double lat, double lon, double yaw, double pitch);
+
+    /**
+     * Gets the Euler Psi value (in radians) from position and Tait-Brayn yaw
+     * and pitch angles
+     *
+     * @param lat Entity's latitude, IN RADIANS
+     * @param lon Entity's longitude, IN RADIANS
+     * @param yaw ettity's yaw angle (also know as the entity's bearing or
+     * heading angle), in degrees
+     * @param pitch entity's pitch angle, in degrees
+     * @return the Psi value in radians
+     */
+     static double getPsiFromTaitBryanAngles(double lat, double lon, double yaw, double pitch);
+
+    /**
+     * Gets the Euler Phi value (in radians) from position and Tait-Brayn yaw,
+     * pitch and roll angles
+     *
+     * @param lat Entity's latitude, IN RADIANS
+     * @param lon Entity's longitude, IN RADIANS
+     * @param yaw yaw angle (also know as the entity's bearing or heading
+     * angle), in degrees
+     * @param pitch entity's pitch angle, in degrees
+     * @param roll entity's roll angle (0 is level flight, + roll is clockwise
+     * looking out the nose), in degrees
+     * @return the Phi value in radians
+     */
+     static double getPhiFromTaitBryanAngles(double lat, double lon, double yaw, double pitch, double roll);
+
+    
+    private:
+
+    static double toDegrees(double radian);
+
+    constexpr static const  double _toDegrees = 57.2957795131;
+    constexpr static double _toRadians = 0.01745329252;
+
+};
+}    
+

include/SimCore/Orientation.hpp

@@ -0,0 +1,41 @@
+#pragma once 
+
+#include <Eigen/Core>
+
+
+namespace SimCore 
+{
+    class Orientation
+    {
+
+        public: 
+        Orientation(double heading = 0, double pitch = 0, double roll = 0);
+
+        Orientation(Eigen::Vector3d angles, double lat, double lon);
+
+        void setHeading(double heading);
+        double getHeading();
+
+        void setPitch(double pitch);
+        double getPitch();
+
+        void setRoll(double roll);
+        double getRoll();
+
+        Eigen::Vector3d getEulerAngles(double lat ,double lon);
+
+
+        private:
+            
+
+             Eigen::Vector3d eulerAngels_;
+
+             double heading_;
+             double pitch_;
+             double roll_;
+
+
+    };
+
+
+}

include/SimCore/SimCore.hpp

@@ -19,6 +19,13 @@ Y,
 Z
 };
 
+enum EulerAngels : std::uint8_t
+{
+PSI = 0,  
+THETA, 
+PHI    
+};
+
 
 enum  ObjectSource : bool{