cartesian_tree/
orientation.rs

1use nalgebra::UnitQuaternion;
2
3pub trait IntoOrientation {
4    fn into_orientation(self) -> UnitQuaternion<f64>;
5}
6
7impl IntoOrientation for UnitQuaternion<f64> {
8    fn into_orientation(self) -> UnitQuaternion<f64> {
9        self
10    }
11}
12
13impl IntoOrientation for (f64, f64, f64) {
14    fn into_orientation(self) -> UnitQuaternion<f64> {
15        UnitQuaternion::from_euler_angles(self.0, self.1, self.2)
16    }
17}