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| author | James Goppert <james.goppert@gmail.com> | 2013-01-13 19:23:59 -0500 |
|---|---|---|
| committer | James Goppert <james.goppert@gmail.com> | 2013-01-13 19:23:59 -0500 |
| commit | 0ccdbd78f69444c3084b927f3e6fd2fe80549d28 (patch) | |
| tree | 051f59bb1d271447737893e7b188dd54220db956 /apps/mathlib/math/Quaternion.cpp | |
| parent | e02791ee8e56cbe913751cbb279cb66ab5919202 (diff) | |
| download | px4-firmware-0ccdbd78f69444c3084b927f3e6fd2fe80549d28.tar.gz px4-firmware-0ccdbd78f69444c3084b927f3e6fd2fe80549d28.tar.bz2 px4-firmware-0ccdbd78f69444c3084b927f3e6fd2fe80549d28.zip | |
More formatting.
Diffstat (limited to 'apps/mathlib/math/Quaternion.cpp')
| -rw-r--r-- | apps/mathlib/math/Quaternion.cpp | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/apps/mathlib/math/Quaternion.cpp b/apps/mathlib/math/Quaternion.cpp index 161b9d039..78481b286 100644 --- a/apps/mathlib/math/Quaternion.cpp +++ b/apps/mathlib/math/Quaternion.cpp @@ -82,13 +82,13 @@ Quaternion::Quaternion(const Dcm &dcm) : // avoiding singularities by not using // division equations setA(0.5 * sqrt(1.0 + - double( dcm(0, 0) + dcm(1, 1) + dcm(2, 2)))); + double(dcm(0, 0) + dcm(1, 1) + dcm(2, 2)))); setB(0.5 * sqrt(1.0 + - double( dcm(0, 0) - dcm(1, 1) - dcm(2, 2)))); + double(dcm(0, 0) - dcm(1, 1) - dcm(2, 2)))); setC(0.5 * sqrt(1.0 + - double(-dcm(0, 0) + dcm(1, 1) - dcm(2, 2)))); + double(-dcm(0, 0) + dcm(1, 1) - dcm(2, 2)))); setD(0.5 * sqrt(1.0 + - double(-dcm(0, 0) - dcm(1, 1) + dcm(2, 2)))); + double(-dcm(0, 0) - dcm(1, 1) + dcm(2, 2)))); } Quaternion::Quaternion(const EulerAngles &euler) : |