forked from Archive/PX4-Autopilot
quaternion from dcm: comment and reference
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@ -135,6 +135,10 @@ public:
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data[3] = static_cast<float>(cosPhi_2 * cosTheta_2 * sinPsi_2 - sinPhi_2 * sinTheta_2 * cosPsi_2);
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}
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/**
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* set quaternion to rotation by DCM
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* Reference: Shoemake, Quaternions, http://www.cs.ucr.edu/~vbz/resources/quatut.pdf
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*/
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void from_dcm(const Matrix<3, 3> &dcm) {
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float tr = dcm.data[0][0] + dcm.data[1][1] + dcm.data[2][2];
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if (tr > 0.0f) {
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