velocity_conversion_util.h

#pragma once
#include "software/geom/vector.h"
 
inline Vector globalToLocalVelocity(const Vector &global_vector,
                                    const Angle &global_orientation)
{
    return global_vector.rotate(-global_orientation);
}
 
inline Vector localToGlobalVelocity(const Vector &local_vector,
                                    const Angle &global_orientation)
{
    return local_vector.rotate(global_orientation);
}