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Work on testing.

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jgoppert
2015-11-05 10:44:21 -05:00
parent a703c8169e
commit f7b1c63b86
12 changed files with 242 additions and 165 deletions
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matrix/Euler.hpp
+2 -2
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@@ -42,11 +42,11 @@ public:
Type phi = 0;
Type psi = 0;
if (abs(theta - M_PI_2) < 1.0e-3) {
if (fabs(theta - M_PI_2) < 1.0e-3) {
psi = atan2(dcm(1, 2) - dcm(0, 1),
dcm(0, 2) + dcm(1, 1));
} else if (abs(theta + M_PI_2) < 1.0e-3) {
} else if (fabs(theta + M_PI_2) < 1.0e-3) {
psi = atan2(dcm(1, 2) - dcm(0, 1),
dcm(0, 2) + dcm(1, 1));