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Astrolog is astrology software featuring many types of computation, display, graphics, comparison, and analysis. It supports multiple environments, such as MS Windows and Unix X Windows, with complete C++ source code available. For more information see the Web site: http://www.astrolog.org/astrolog.htm

The Rotations Conversion Library (RCL) is a collection of C++ functions that address common computations and numerical handling of rotations in 3D Euclidean space, including support for rotation matrices (`Rotmat`), Quaternions (`Quat`), intrinsic ZYX Euler angles (`Euler`), fused angles (`Fused`) and tilt angles (`Tilt`). In addition to the core competency of being able to convert between each of the representations, operations such as inversion, ZYX yaw extraction, fused yaw extraction,...

using simple cuboids and gjk algorithm, this general purpose algorithm gives a ready made code to work with swissranger 3D camera.