From 59e623a2ebe28139dfed2a3df4a63f1999c50b1a Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Wed, 25 Feb 2015 17:48:55 +0100
Subject: quaternion from dcm: comment and reference

---
 src/lib/mathlib/math/Quaternion.hpp | 4 ++++
 1 file changed, 4 insertions(+)

(limited to 'src/lib')

diff --git a/src/lib/mathlib/math/Quaternion.hpp b/src/lib/mathlib/math/Quaternion.hpp
index 6ea4cf557..38400beef 100644
--- a/src/lib/mathlib/math/Quaternion.hpp
+++ b/src/lib/mathlib/math/Quaternion.hpp
@@ -135,6 +135,10 @@ public:
 		data[3] = static_cast<float>(cosPhi_2 * cosTheta_2 * sinPsi_2 - sinPhi_2 * sinTheta_2 * cosPsi_2);
 	}
 
+	/**
+	 * set quaternion to rotation by DCM
+	 * Reference: Shoemake, Quaternions, http://www.cs.ucr.edu/~vbz/resources/quatut.pdf
+	 */
 	void from_dcm(const Matrix<3, 3> &dcm) {
 		float tr = dcm.data[0][0] + dcm.data[1][1] + dcm.data[2][2];
 		if (tr > 0.0f) {
-- 
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