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More testing and cleanup.

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This commit is contained in:
jgoppert
2015-11-05 12:28:39 -05:00
parent 9d88b0d573
commit fd64e7e93a
10 changed files with 74 additions and 120 deletions
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matrix/Quaternion.hpp
+15 -2
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@@ -36,6 +36,16 @@ public:
q(3) = 0;
}
Quaternion(const Vector<Type, 4> & other) :
Vector<Type, 4>(other)
{
}
Quaternion(const Matrix<Type, 4, 1> & other) :
Vector<Type, 4>(other)
{
}
Quaternion(const Dcm<Type> & dcm) :
Vector<Type, 4>()
{
@@ -50,7 +60,9 @@ public:
(4 * q(0)));
}
Quaternion(const Euler<Type> & euler) {
Quaternion(const Euler<Type> & euler) :
Vector<Type, 4>()
{
Quaternion &q = *this;
Type cosPhi_2 = Type(cos(euler.phi() / 2.0));
Type cosTheta_2 = Type(cos(euler.theta() / 2.0));
@@ -68,7 +80,8 @@ public:
sinPhi_2 * sinTheta_2 * cosPsi_2;
}
Quaternion(Type a, Type b, Type c, Type d) : Vector<Type, 4>()
Quaternion(Type a, Type b, Type c, Type d) :
Vector<Type, 4>()
{
Quaternion &q = *this;
q(0) = a;