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AP_Math: small formatting fix to quaternion rotation_matrix

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No functional change
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Leonard Hall 2016-06-24 16:12:58 +09:00 committed by Randy Mackay
parent 8afd29cc85
commit 7f933140c7
1 changed files with 6 additions and 6 deletions
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12
libraries/AP_Math/quaternion.cpp
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@ -35,13 +35,13 @@ void Quaternion::rotation_matrix(Matrix3f &m) const
float q4q4 = q4 * q4;
m.a.x = 1.0f-2.0f*(q3q3 + q4q4);
m.a.y = 2.0f*(q2q3 - q1q4);
m.a.z = 2.0f*(q2q4 + q1q3);
m.b.x = 2.0f*(q2q3 + q1q4);
m.a.y = 2.0f*(q2q3 - q1q4);
m.a.z = 2.0f*(q2q4 + q1q3);
m.b.x = 2.0f*(q2q3 + q1q4);
m.b.y = 1.0f-2.0f*(q2q2 + q4q4);
m.b.z = 2.0f*(q3q4 - q1q2);
m.c.x = 2.0f*(q2q4 - q1q3);
m.c.y = 2.0f*(q3q4 + q1q2);
m.b.z = 2.0f*(q3q4 - q1q2);
m.c.x = 2.0f*(q2q4 - q1q3);
m.c.y = 2.0f*(q3q4 + q1q2);
m.c.z = 1.0f-2.0f*(q2q2 + q3q3);
}