23 #include "quaternion_helper.h" 26 #include <eclipseclass.h> 28 #include <LinearMath/btQuaternion.h> 43 EC_word list(EC_arg(1));
45 if (list.is_list(head,tail) != EC_succeed){
46 printf(
"p_get_yaw(): first argument is not a list!\n");
48 for (
int i=0 ; list.is_list(head,tail) == EC_succeed and i < 4; list=tail, i++)
50 res = head.is_double(&quad[i]);
51 if (res != EC_succeed){
52 printf(
"p_get_yaw(): quaternion is not a list of 4 doubles/floats\n" );
56 double yaw = fawkes::tf::get_yaw(btQuaternion((
float) quad[0], (
float) quad[1], (
float) quad[2], (
float) quad[3]));
57 if ( EC_succeed != EC_arg( 2 ).unify( EC_word(yaw) ) )
59 printf(
"p_get_yaw(): could not bind return value\n" );
Fawkes library namespace.