enu-ned quat convertion

[jorgenfj]

No description provided.

[codecov]

Codecov Report

❌ Patch coverage is 91.66667% with 2 lines in your changes missing coverage. Please review.
✅ Project coverage is 83.24%. Comparing base (16802e9) to head (ec007d4).
⚠️ Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
vortex_utils/cpp_test/test_math.cpp	85.71%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main      #32      +/-   ##
==========================================
+ Coverage   83.05%   83.24%   +0.19%     
==========================================
  Files          11       11              
  Lines        1062     1086      +24     
  Branches      506      523      +17     
==========================================
+ Hits          882      904      +22     
  Misses          6        6              
- Partials      174      176       +2     

Flag	Coverage Δ
unittests	83.24% <91.66%> (+0.19%)	⬆️

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Files with missing lines	Coverage Δ
vortex_utils/include/vortex/utils/math.hpp	80.00% <ø> (ø)
vortex_utils/include/vortex/utils/types.hpp	96.10% <ø> (ø)
vortex_utils/src/math.cpp	92.37% <100.00%> (+0.70%)	⬆️
vortex_utils/cpp_test/test_math.cpp	83.27% <85.71%> (+0.13%)	⬆️

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[Andeshog]

To keep "constness" of R you could initialize it by calling a lambda ES.28. Also to make it more clear how the matrix is contstructed you could use column vectors

const Eigen::Matrix3d rotation_matrix_enu_to_ned = []{
    Eigen::Matrix3d rotmat;
    rotmat.col(0) = Eigen::Vector3d(0, 1, 0);
    rotmat.col(1) = Eigen::Vector3d(1, 0, 0);
    rotmat.col(2) = Eigen::Vector3d(0, 0, -1);
    return rotmat;
}();