import math
import numpy as np

def toRad(d):
    return d/360*2*math.pi

def toDeg(r):
    return r*360/2/math.pi


def mapFromTo(x,a,b,c,d):
   y=(x-a)/(b-a)*(d-c)+c
   return y

def constrain(v,_min,_max):
    return min(_max,max(_min,v))



def RPYtoVec(roll,pitch,yaw):
    yawMatrix = np.matrix([
    [math.cos(yaw), -math.sin(yaw), 0],
    [math.sin(yaw), math.cos(yaw), 0],
    [0, 0, 1]
    ])

    pitchMatrix = np.matrix([
    [math.cos(pitch), 0, math.sin(pitch)],
    [0, 1, 0],
    [-math.sin(pitch), 0, math.cos(pitch)]
    ])

    rollMatrix = np.matrix([
    [1, 0, 0],
    [0, math.cos(roll), -math.sin(roll)],
    [0, math.sin(roll), math.cos(roll)]
    ])

    R = yawMatrix * pitchMatrix * rollMatrix

    theta = math.acos(((R[0, 0] + R[1, 1] + R[2, 2]) - 1) / 2)
    multi = 1 / (2 * math.sin(theta))

    rx = multi * (R[2, 1] - R[1, 2]) * theta
    ry = multi * (R[0, 2] - R[2, 0]) * theta
    rz = multi * (R[1, 0] - R[0, 1]) * theta

    return rx, ry, rz