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AP_Math: fix compile warning re float constants

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This commit is contained in:
Tom Pittenger 2015-04-24 14:23:17 +09:00 committed by Randy Mackay
parent 66c7090f00
commit 10c933966b
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_Math/quaternion.cpp
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@ -71,19 +71,19 @@ void Quaternion::from_rotation_matrix(const Matrix3f &m)
qy = (m02 - m20) / S;
qz = (m10 - m01) / S;
} else if ((m00 > m11) && (m00 > m22)) {
float S = sqrtf(1.0 + m00 - m11 - m22) * 2;
float S = sqrtf(1.0f + m00 - m11 - m22) * 2;
qw = (m21 - m12) / S;
qx = 0.25f * S;
qy = (m01 + m10) / S;
qz = (m02 + m20) / S;
} else if (m11 > m22) {
float S = sqrtf(1.0 + m11 - m00 - m22) * 2;
float S = sqrtf(1.0f + m11 - m00 - m22) * 2;
qw = (m02 - m20) / S;
qx = (m01 + m10) / S;
qy = 0.25f * S;
qz = (m12 + m21) / S;
} else {
float S = sqrtf(1.0 + m22 - m00 - m11) * 2;
float S = sqrtf(1.0f + m22 - m00 - m11) * 2;
qw = (m10 - m01) / S;
qx = (m02 + m20) / S;
qy = (m12 + m21) / S;