public static extern int rs_quaternion_to_rpy(UInt16 rshd, ref Ori ori, ref Rpy rpy);
public static extern int rs_rpy_to_quaternion(UInt16 rshd, ref Rpy rpy, ref Ori ori);
public static extern int rs_quaternion_to_rpy(UInt16 rshd, ref Ori ori, ref Rpy rpy);
public static extern int rs_rpy_to_quaternion(UInt16 rshd, ref Rpy rpy, ref Ori ori);