Merge branch 'master' of github.com:opentrack/opentrack

Conflicts:
	facetracknoir/rotation.h

1 files changed, 8 insertions, 7 deletions

diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h
index a1500969..5385b545 100644
--- a/facetracknoir/rotation.h
+++ b/facetracknoir/rotation.h
@@ -17,7 +17,7 @@ public:
 	Rotation(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {}

 

 	Rotation inv(){	// inverse

-		return Rotation(a,-b,-c,-d);

+		return Rotation(a,-b,-c, -d);

 	}

 

 

@@ -25,6 +25,7 @@ public:
 	// see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles

 	void fromEuler(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);

@@ -38,7 +39,7 @@ public:
 		d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;

 	}

 

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

+	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));

@@ -47,17 +48,17 @@ public:
 	

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

 	{

-		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);

+		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

+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);