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