flush and push

1 files changed, 13 insertions, 13 deletions

diff --git a/facetracknoir/quat.hpp b/facetracknoir/quat.hpp
index 1e268963..6d777b28 100644
--- a/facetracknoir/quat.hpp
+++ b/facetracknoir/quat.hpp
@@ -14,7 +14,7 @@ private:
     static constexpr double r2d = 180./pi;
     double a,b,c,d; // quaternion coefficients
 public:
-    Quat() : a(1.0),b(0.0),c(0.0),d(0.0) {}
+    Quat() : a(1.),b(0.),c(0.),d(0.) {}
     Quat(double yaw, double pitch, double roll) { from_euler_rads(yaw, pitch, roll); }
     Quat(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {}
 
@@ -27,12 +27,12 @@ public:
     void from_euler_rads(double yaw, double pitch, double roll)
     {
 
-        double sin_phi = sin(roll/2.0);
-        double cos_phi = cos(roll/2.0);
-        double sin_the = sin(pitch/2.0);
-        double cos_the = cos(pitch/2.0);
-        double sin_psi = sin(yaw/2.0);
-        double cos_psi = cos(yaw/2.0);
+        const double sin_phi = sin(roll/2.);
+        const double cos_phi = cos(roll/2.);
+        const double sin_the = sin(pitch/2.);
+        const double cos_the = cos(pitch/2.);
+        const double sin_psi = sin(yaw/2.);
+        const double cos_psi = cos(yaw/2.);
 
         a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi;
         b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi;
@@ -42,9 +42,9 @@ public:
 
     void to_euler_rads(double& yaw, double& pitch, double& roll) const
     {
-        roll = atan2(2.0*(a*b + c*d), 1.0 - 2.0*(b*b + c*c));
-        pitch = asin(2.0*(a*c - b*d));
-        yaw =  atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d));
+        roll = atan2(2.*(a*b + c*d), 1. - 2.*(b*b + c*c));
+        pitch = asin(2.*(a*c - b*d));
+        yaw =  atan2(2.*(a*d + b*c), 1. - 2.*(c*c + d*d));
     }
 
     void to_euler_degrees(double& yaw, double& pitch, double& roll) const
@@ -59,8 +59,8 @@ public:
     {
         const Quat& A = *this;
         return Quat(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d,	// quaternion multiplication
-                        A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,
-                        A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,
-                        A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);
+                    A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,
+                    A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,
+                    A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);
     }
 };