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Euler, Quaternion: fix compiler errors for GCC 6.1.1 (#23)

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* Euler, Quaternion: fix compiler errors for GCC 6.1.1

GCC output:
error: implicit conversion from ‘float’ to ‘double’ to match other operand
of binary expression [-Werror=double-promotion]

* astyle: fix formatting for Euler.hpp & Quaternion.hpp
This commit is contained in:
Beat Küng
2016-07-05 17:00:35 -04:00
committed by James Goppert
parent 3c87ae78ff
commit b1f76782f6
2 changed files with 71 additions and 51 deletions
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matrix/Euler.hpp
+24 -17
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@@ -54,7 +54,7 @@ public:
*
* @param other vector to copy
*/
Euler(const Vector<Type, 3> & other) :
Euler(const Vector<Type, 3> &other) :
Vector<Type, 3>(other)
{
}
@@ -64,7 +64,7 @@ public:
*
* @param other Matrix31 to copy
*/
Euler(const Matrix<Type, 3, 1> & other) :
Euler(const Matrix<Type, 3, 1> &other) :
Vector<Type, 3>(other)
{
}
@@ -97,19 +97,20 @@ public:
*
* @param dcm Direction cosine matrix
*/
Euler(const Dcm<Type> & dcm) : Vector<Type, 3>()
Euler(const Dcm<Type> &dcm) : Vector<Type, 3>()
{
Type phi_val = Type(atan2(dcm(2,1), dcm(2,2)));
Type theta_val = Type(asin(-dcm(2,0)));
Type psi_val = Type(atan2(dcm(1,0), dcm(0,0)));
Type phi_val = Type(atan2(dcm(2, 1), dcm(2, 2)));
Type theta_val = Type(asin(-dcm(2, 0)));
Type psi_val = Type(atan2(dcm(1, 0), dcm(0, 0)));
Type pi = Type(M_PI);
if (fabs(theta_val - pi/2) < 1.0e-3) {
if (Type(fabs(theta_val - pi / Type(2))) < Type(1.0e-3)) {
phi_val = Type(0.0);
psi_val = Type(atan2(dcm(1,2), dcm(0,2)));
} else if (Type(fabs(theta_val + pi/2)) < Type(1.0e-3)) {
psi_val = Type(atan2(dcm(1, 2), dcm(0, 2)));
} else if (Type(fabs(theta_val + pi / Type(2))) < Type(1.0e-3)) {
phi_val = Type(0.0);
psi_val = Type(atan2(-dcm(1,2), -dcm(0,2)));
psi_val = Type(atan2(-dcm(1, 2), -dcm(0, 2)));
}
phi() = phi_val;
@@ -127,29 +128,35 @@ public:
*
* @param q quaternion
*/
Euler(const Quaternion<Type> & q) :
Euler(const Quaternion<Type> &q) :
Vector<Type, 3>()
{
*this = Euler(Dcm<Type>(q));
}
inline Type phi() const {
inline Type phi() const
{
return (*this)(0);
}
inline Type theta() const {
inline Type theta() const
{
return (*this)(1);
}
inline Type psi() const {
inline Type psi() const
{
return (*this)(2);
}
inline Type & phi() {
inline Type &phi()
{
return (*this)(0);
}
inline Type & theta() {
inline Type &theta()
{
return (*this)(1);
}
inline Type & psi() {
inline Type &psi()
{
return (*this)(2);
}