matrix_utils.hpp

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/*
 * Copyright (c) 2020 Flight Dynamics and Control Lab
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 * furnished to do so, subject to the following conditions:
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 * The above copyright notice and this permission notice shall be included in 
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#ifndef FDCL_MATRIX_UTILS_HPP
#define FDCL_MATRIX_UTILS_HPP

#include <iostream>
#include <Eigen/Dense>
#include <Eigen/Eigenvalues>

#include "common_types.hpp"


Matrix3 hat(const Vector3 v);


Vector3 vee(const Matrix3 V);


void saturate(Vector3 &x, const double x_min, const double x_max);


void deriv_unit_vector( \
    const Vector3 &A, const Vector3 &A_dot, const Vector3 &A_ddot, \
    Vector3 &q, Vector3 &q_dot, Vector3 &q_ddot
);


#endif