Fix build

1 files changed, 16 insertions, 25 deletions

diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h
index 5385b545..dd70ca77 100644
--- a/facetracknoir/rotation.h
+++ b/facetracknoir/rotation.h
@@ -38,31 +38,22 @@ public:
 		c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi;

 		d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;

 	}

-

-	void Rotation::toEuler(double& yaw, double& pitch, double& roll)

-	{

-		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));

-	}

-	

-/*	 const Rotation operator*(const Rotation& A, const Rotation& B)

-	{

-		return Rotation(A.w*B.w - A.x*B.x - A.y*B.y - A.z*B.z,	// quaternion multiplication

-						A.w*B.x + A.x*B.w + A.y*B.z - A.z*B.y,

-						A.w*B.y - A.x*B.z + A.y*B.w + A.z*B.x,

-						A.w*B.z + A.x*B.y - A.y*B.x + A.z*B.w);

-	}*/

-

-

-		 const Rotation operator*(const Rotation& B)

-	{

-		const Rotation& A = *this;

-return Rotation(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);

-	}

+    

+    void toEuler(double& yaw, double& pitch, double& roll)

+    {

+        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));

+    }

+    

+    const Rotation operator*(const Rotation& B)

+    {

+        const Rotation& A = *this;

+        return Rotation(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);

+    }

 

 protected:

 	double a,b,c,d; // quaternion coefficients