From 1e0f3f5398e6ba0177c52f3d2842f05463ab5be4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 4 Jan 2014 15:58:27 +1100
Subject: [PATCH] AP_Math: make to_euler() const

---
 libraries/AP_Math/matrix3.cpp | 4 ++--
 libraries/AP_Math/matrix3.h   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Math/matrix3.cpp b/libraries/AP_Math/matrix3.cpp
index 1b47db137d..8d6a606c1c 100644
--- a/libraries/AP_Math/matrix3.cpp
+++ b/libraries/AP_Math/matrix3.cpp
@@ -47,7 +47,7 @@ void Matrix3<T>::from_euler(float roll, float pitch, float yaw)
 // calculate euler angles from a rotation matrix
 // this is based on http://gentlenav.googlecode.com/files/EulerAngles.pdf
 template <typename T>
-void Matrix3<T>::to_euler(float *roll, float *pitch, float *yaw)
+void Matrix3<T>::to_euler(float *roll, float *pitch, float *yaw) const
 {
     if (pitch != NULL) {
         *pitch = -safe_asin(c.x);
@@ -182,7 +182,7 @@ template void Matrix3<float>::rotate(const Vector3<float> &g);
 template void Matrix3<float>::rotateXY(const Vector3<float> &g);
 template void Matrix3<float>::rotateXYinv(const Vector3<float> &g);
 template void Matrix3<float>::from_euler(float roll, float pitch, float yaw);
-template void Matrix3<float>::to_euler(float *roll, float *pitch, float *yaw);
+template void Matrix3<float>::to_euler(float *roll, float *pitch, float *yaw) const;
 template Vector3<float> Matrix3<float>::operator *(const Vector3<float> &v) const;
 template Vector3<float> Matrix3<float>::mul_transpose(const Vector3<float> &v) const;
 template Matrix3<float> Matrix3<float>::operator *(const Matrix3<float> &m) const;
diff --git a/libraries/AP_Math/matrix3.h b/libraries/AP_Math/matrix3.h
index 3e5c183be5..b8cd12d851 100644
--- a/libraries/AP_Math/matrix3.h
+++ b/libraries/AP_Math/matrix3.h
@@ -206,7 +206,7 @@ public:
     void        from_euler(float roll, float pitch, float yaw);
 
     // create eulers from a rotation matrix
-    void        to_euler(float *roll, float *pitch, float *yaw);
+    void        to_euler(float *roll, float *pitch, float *yaw) const;
 
     // apply an additional rotation from a body frame gyro vector
     // to a rotation matrix.