diff options
| -rw-r--r-- | compat/euler.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/compat/euler.cpp b/compat/euler.cpp index e9789bee..39d2b116 100644 --- a/compat/euler.cpp +++ b/compat/euler.cpp @@ -14,14 +14,14 @@ euler_t OTR_COMPAT_EXPORT rmat_to_euler(const rmat& R) alpha = atan2( R(1,0), R(0,0)); gamma = atan2( R(2,1), R(2,2)); - return { alpha, beta, gamma }; + return { alpha, -beta, gamma }; } rmat OTR_COMPAT_EXPORT euler_to_rmat(const euler_t& e) { - const double X = -e(2); + const double X = e(2); const double Y = -e(1); - const double Z = -e(0); + const double Z = e(0); const double cx = cos(X); const double sx = sin(X); |