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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-07 00:05:29 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-07 00:05:29 +0200 |
| commit | 5559e568b6e5502ad51ec96fd531876c1191d641 (patch) | |
| tree | bc6356b5bed0481cced4a7d7e7ef99bd225d91a7 /src/lib/conversion/rotation.cpp | |
| parent | 863385dbc4243c8ecb19890a0dfce4a0b7ead9d6 (diff) | |
| parent | d67089b23f58ac152253f58c5deaebbd57db0362 (diff) | |
| download | px4-firmware-5559e568b6e5502ad51ec96fd531876c1191d641.tar.gz px4-firmware-5559e568b6e5502ad51ec96fd531876c1191d641.tar.bz2 px4-firmware-5559e568b6e5502ad51ec96fd531876c1191d641.zip | |
Merged master into safelinksafelink
Diffstat (limited to 'src/lib/conversion/rotation.cpp')
| -rw-r--r-- | src/lib/conversion/rotation.cpp | 15 |
1 files changed, 2 insertions, 13 deletions
diff --git a/src/lib/conversion/rotation.cpp b/src/lib/conversion/rotation.cpp index b078562c2..614877b18 100644 --- a/src/lib/conversion/rotation.cpp +++ b/src/lib/conversion/rotation.cpp @@ -41,22 +41,11 @@ #include "rotation.h" __EXPORT void -get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix) +get_rot_matrix(enum Rotation rot, math::Matrix<3,3> *rot_matrix) { - /* first set to zero */ - rot_matrix->Matrix::zero(3, 3); - float roll = M_DEG_TO_RAD_F * (float)rot_lookup[rot].roll; float pitch = M_DEG_TO_RAD_F * (float)rot_lookup[rot].pitch; float yaw = M_DEG_TO_RAD_F * (float)rot_lookup[rot].yaw; - math::EulerAngles euler(roll, pitch, yaw); - - math::Dcm R(euler); - - for (int i = 0; i < 3; i++) { - for (int j = 0; j < 3; j++) { - (*rot_matrix)(i, j) = R(i, j); - } - } + rot_matrix->from_euler(roll, pitch, yaw); } |