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-rw-r--r--facetracknoir/pose.hpp4
1 files changed, 2 insertions, 2 deletions
diff --git a/facetracknoir/pose.hpp b/facetracknoir/pose.hpp
index ec9faaa3..d925c0a8 100644
--- a/facetracknoir/pose.hpp
+++ b/facetracknoir/pose.hpp
@@ -44,7 +44,7 @@ public:
Pose operator+(const Pose& B) const
{
- const Quat q = (quat() * B.quat().inv());
+ const Quat q = quat() * B.quat();
Pose ret = fromQuat(q);
for (int i = TX; i < Yaw; i++)
ret(i) = B(i);
@@ -56,7 +56,7 @@ public:
Pose ret = *this;
for (int i = 0; i < 6; i++)
{
- static constexpr double eps = 1e-5;
+ static constexpr double eps = 1e-3;
// NB replace zero-valued elements with argument's
if (std::abs(ret(i)) < eps)
ret(i) = replacement(i);