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jgoppert
2015-11-05 11:18:33 -05:00
parent 0062cbcbe2
commit b8dc262582
2 changed files with 6 additions and 6 deletions
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matrix/Euler.hpp
+2 -2
View File
@@ -42,11 +42,11 @@ public:
if (fabs(theta() - M_PI_2) < 1.0e-3) {
psi() = Type(atan2(dcm(1, 2) - dcm(0, 1),
dcm(0, 2) + dcm(1, 1)));
dcm(0, 2) + dcm(1, 1)));
} else if (fabs(theta() + M_PI_2) < 1.0e-3) {
psi() = Type(atan2(dcm(1, 2) - dcm(0, 1),
dcm(0, 2) + dcm(1, 1)));
dcm(0, 2) + dcm(1, 1)));
} else {
phi() = Type(atan2f(dcm(2, 1), dcm(2, 2)));
matrix/Quaternion.hpp
+4 -4
View File
@@ -41,13 +41,13 @@ public:
{
Quaternion &q = *this;
q(0) = Type(0.5 * sqrt(1 + dcm(0, 0) +
dcm(1, 1) + dcm(2, 2)));
dcm(1, 1) + dcm(2, 2)));
q(1) = Type((dcm(2, 1) - dcm(1, 2)) /
(4 * q(0)));
(4 * q(0)));
q(2) = Type((dcm(0, 2) - dcm(2, 0)) /
(4 * q(0)));
(4 * q(0)));
q(3) = Type((dcm(1, 0) - dcm(0, 1)) /
(4 * q(0)));
(4 * q(0)));
}
Quaternion(const Euler<Type> & euler) {