Add SLERP test and euler2quat.

tools/euler2quat.cc

@@ -0,0 +1,64 @@
+#include <cstdlib>
+#include <iostream>
+#include <string>
+#include <wrmath/math.h>
+#include <wrmath/geom/quaternion.h>
+
+using namespace std;
+using namespace wr;
+
+
+static void
+usage(ostream& outs)
+{
+	outs << "Print conversions between Euler angles and quaternions." << endl;
+	outs << "Usage: euler2quat yaw pitch roll" << endl;
+	outs << "       euler2quat x y z w" << endl;
+}
+
+
+static void
+convertEulerToQuat(char **argv)
+{
+	double		yaw = math::DegreesToRadiansD(stod(string(argv[0])));
+	double		pitch = math::DegreesToRadiansD(stod(string(argv[1])));
+	double		roll = math::DegreesToRadiansD(stod(string(argv[2])));
+
+	geom::Vector3d	euler {yaw, pitch, roll};
+	auto		quaternion = geom::quaterniond_from_euler(euler);
+
+	cout << "Quaternion: " << quaternion.asVector() << endl;
+}
+
+
+static void
+convertQuatToEuler(char **argv)
+{
+	double	x = stod(string(argv[0]));
+	double	y = stod(string(argv[1]));
+	double	z = stod(string(argv[1]));
+	double	w = stod(string(argv[1]));
+
+	geom::Quaterniond	quaternion {x, y, z, w};
+	auto			euler = quaternion.euler() * (180.0 / M_PI);
+
+	cout << "Euler ZYX: " << euler << endl;
+}
+
+
+int
+main(int argc, char **argv)
+{
+	if ((argc != 4) && (argc != 5)) {
+		usage(cerr);
+		return EXIT_FAILURE;
+	}
+
+	argv++;
+	if (argc == 4) {
+		convertEulerToQuat(argv);
+	}
+	else {
+		convertQuatToEuler(argv);
+	}
+}