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This commit is contained in:
James Goppert
2013-01-13 19:23:59 -05:00
parent e02791ee8e
commit 0ccdbd78f6
4 changed files with 28 additions and 28 deletions
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apps/mathlib/math/Quaternion.cpp
+4 -4
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@@ -82,13 +82,13 @@ Quaternion::Quaternion(const Dcm &dcm) :
// avoiding singularities by not using
// division equations
setA(0.5 * sqrt(1.0 +
double( dcm(0, 0) + dcm(1, 1) + dcm(2, 2))));
double(dcm(0, 0) + dcm(1, 1) + dcm(2, 2))));
setB(0.5 * sqrt(1.0 +
double( dcm(0, 0) - dcm(1, 1) - dcm(2, 2))));
double(dcm(0, 0) - dcm(1, 1) - dcm(2, 2))));
setC(0.5 * sqrt(1.0 +
double(-dcm(0, 0) + dcm(1, 1) - dcm(2, 2))));
double(-dcm(0, 0) + dcm(1, 1) - dcm(2, 2))));
setD(0.5 * sqrt(1.0 +
double(-dcm(0, 0) - dcm(1, 1) + dcm(2, 2))));
double(-dcm(0, 0) - dcm(1, 1) + dcm(2, 2))));
}
Quaternion::Quaternion(const EulerAngles &euler) :