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shouldUse321RotationSequence(const Dcmf& R)

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Kamil Ritz
2020-08-15 13:43:55 +02:00
committed by Paul Riseborough
parent 4872f2a545
commit 15afa8ae17
5 changed files with 10 additions and 5 deletions
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EKF/utils.cpp
+4
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@@ -58,3 +58,7 @@ matrix::Dcmf quatToInverseRotMat(const matrix::Quatf &quat)
return dcm;
}
bool shouldUse321RotationSequence(const matrix::Dcmf& R) {
return fabsf(R(2, 0)) < fabsf(R(2, 1));
}