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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
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@@ -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)));