Merge pull request #2239 from kd0aij/addRot_v100

add a new rotation to lib/conversion

src/lib/conversion/rotation.cpp

@@ -41,7 +41,7 @@
 #include "rotation.h"
 
 __EXPORT void
-get_rot_matrix(enum Rotation rot, math::Matrix<3,3> *rot_matrix)
+get_rot_matrix(enum Rotation rot, math::Matrix<3, 3> *rot_matrix)
 {
 	float roll  = M_DEG_TO_RAD_F * (float)rot_lookup[rot].roll;
 	float pitch = M_DEG_TO_RAD_F * (float)rot_lookup[rot].pitch;
@@ -199,5 +199,10 @@ rotate_3f(enum Rotation rot, float &x, float &y, float &z)
         y = -y;
         return;
     }
+    case ROTATION_PITCH_90_YAW_180: {
+        tmp = x; x = z; z = tmp;
+        y = -y;
+        return;
+    }
     }
 }

src/lib/conversion/rotation.h

@@ -76,6 +76,7 @@ enum Rotation {
 	ROTATION_PITCH_270           = 25,
 	ROTATION_ROLL_270_YAW_270    = 26,
 	ROTATION_ROLL_180_PITCH_270  = 27,
+	ROTATION_PITCH_90_YAW_180    = 28,
 	ROTATION_MAX
 };
 
@@ -113,14 +114,15 @@ const rot_lookup_t rot_lookup[] = {
 	{  0,  90,   0 },
 	{  0, 270,   0 },
 	{270,   0, 270 },
-	{180, 270,   0 }
+	{180, 270,   0 },
+	{  0,  90, 180 }
 };
 
 /**
  * Get the rotation matrix
  */
 __EXPORT void
-get_rot_matrix(enum Rotation rot, math::Matrix<3, 3> *rot_matrix);
+get_rot_matrix(enum Rotation rot, math::Matrix<3,3> *rot_matrix);
 
 
 /**