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AP_Math: correct descriptions of quaternion functions

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Peter Barker 2021-08-17 18:32:49 +10:00 committed by Peter Barker
parent b5f7fca254
commit be076e5b1a
2 changed files with 4 additions and 4 deletions
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4
libraries/AP_Math/quaternion.cpp
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@ -51,7 +51,7 @@ void QuaternionT<T>::rotation_matrix(Matrix3d &m) const
m.c.z = 1.0f-2.0f*(q2q2 + q3q3); m.c.z = 1.0f-2.0f*(q2q2 + q3q3);
} }
// return the rotation matrix equivalent for this quaternion // populate the supplied rotation matrix equivalent from this quaternion
template <typename T> template <typename T>
void QuaternionT<T>::rotation_matrix(Matrix3f &m) const void QuaternionT<T>::rotation_matrix(Matrix3f &m) const
{ {
@ -76,7 +76,7 @@ void QuaternionT<T>::rotation_matrix(Matrix3f &m) const
m.c.z = 1.0f-2.0f*(q2q2 + q3q3); m.c.z = 1.0f-2.0f*(q2q2 + q3q3);
} }
// return the rotation matrix equivalent for this quaternion // make this quaternion equivalent to the supplied matrix
// Thanks to Martin John Baker // Thanks to Martin John Baker
// http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm // http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
template <typename T> template <typename T>

4
libraries/AP_Math/quaternion.h
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@ -63,11 +63,11 @@ public:
return isnan(q1) || isnan(q2) || isnan(q3) || isnan(q4); return isnan(q1) || isnan(q2) || isnan(q3) || isnan(q4);
} }
// return the rotation matrix equivalent for this quaternion // populate the supplied rotation matrix equivalent from this quaternion
void rotation_matrix(Matrix3f &m) const; void rotation_matrix(Matrix3f &m) const;
void rotation_matrix(Matrix3d &m) const; void rotation_matrix(Matrix3d &m) const;
// return the rotation matrix equivalent for this quaternion // make this quaternion equivalent to the supplied matrix
void from_rotation_matrix(const Matrix3<T> &m); void from_rotation_matrix(const Matrix3<T> &m);
// create a quaternion from a given rotation // create a quaternion from a given rotation