Program Listing for File math.hpp

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#pragma once

#include <navtk/tensors.hpp>

namespace navtk {
namespace navutils {
extern const double PI;
extern const double DEG2RAD;
extern const double RAD2DEG;

Matrix3 skew(const Vector3& angles);

Matrix3 ortho_dcm(const Matrix3& dcm);

double wrap_to_pi(double orig);

double wrap_to_2_pi(double orig);

}  // namespace navutils
}  // namespace navtk