1 files changed, 39 insertions, 29 deletions
diff --git a/compat/euler.cpp b/compat/euler.cpp
index ab119d3e..f02365c9 100644
--- a/compat/euler.cpp
+++ b/compat/euler.cpp
@@ -11,13 +11,17 @@ euler_t OTR_COMPAT_EXPORT rmat_to_euler(const rmat& R)
     const double cy = sqrt(R(2,2)*R(2, 2) + R(2, 1)*R(2, 1));
     const bool large_enough = cy > 1e-10;
     if (large_enough)
-        return euler_t(atan2(-R(1, 0), R(0, 0)),
-                       atan2(R(2, 0), cy),
-                       atan2(-R(2, 1), R(2, 2)));
+       return {
+           atan2(-R(1, 0), R(0, 0)),
+           atan2(R(2, 0), cy),
+           atan2(-R(2, 1), R(2, 2))
+       };
     else
-        return euler_t(atan2(R(0, 1), R(1, 1)),
-                       atan2(R(2, 0), cy),
-                       0);
+        return {
+           atan2(R(0, 1), R(1, 1)),
+           atan2(R(2, 0), cy),
+           0
+        };
 }
 
 // tait-bryan angles, not euler
@@ -37,20 +41,20 @@ rmat OTR_COMPAT_EXPORT euler_to_rmat(const euler_t& input)
     const auto c3 = cos(B);
     const auto s3 = sin(B);
 
-    return rmat(
-                // z
-                c1 * c2,
-                c1 * s2 * s3 - c3 * s1,
-                s1 * s3 + c1 * c3 * s2,
-                // y
-                c2 * s1,
-                c1 * c3 + s1 * s2 * s3,
-                c3 * s1 * s2 - c1 * s3,
-                // x
-                -s2,
-                c2 * s3,
-                c2 * c3
-                );
+    return {
+        // z
+        c1*c2,
+        c1*s2*s3 - c3*s1,
+        s1*s3 + c1*c3*s2,
+        // y
+        c2*s1,
+        c1*c3 + s1*s2*s3,
+        c3*s1*s2 - c1*s3,
+        // x
+        -s2,
+        c2*s3,
+        c2*c3
+    };
 }
 
 // https://en.wikipedia.org/wiki/Davenport_chained_rotations#Tait.E2.80.93Bryan_chained_rotations
@@ -67,9 +71,11 @@ void OTR_COMPAT_EXPORT tait_bryan_to_matrices(const euler_t& input,
         const double sin_phi = sin(phi);
         const double cos_phi = cos(phi);
 
-        r_roll = rmat(1, 0, 0,
-                      0, cos_phi, -sin_phi,
-                      0, sin_phi, cos_phi);
+        r_roll = {
+            1, 0, 0,
+            0, cos_phi, -sin_phi,
+            0, sin_phi, cos_phi
+        };
     }
 
     {
@@ -77,9 +83,11 @@ void OTR_COMPAT_EXPORT tait_bryan_to_matrices(const euler_t& input,
         const double sin_theta = sin(theta);
         const double cos_theta = cos(theta);
 
-        r_pitch = rmat(cos_theta, 0, -sin_theta,
-                       0, 1, 0,
-                       sin_theta, 0, cos_theta);
+        r_pitch = {
+            cos_theta, 0, -sin_theta,
+            0, 1, 0,
+            sin_theta, 0, cos_theta
+        };
     }
 
     {
@@ -87,9 +95,11 @@ void OTR_COMPAT_EXPORT tait_bryan_to_matrices(const euler_t& input,
         const double sin_psi = sin(psi);
         const double cos_psi = cos(psi);
 
-        r_yaw = rmat(cos_psi, -sin_psi, 0,
-                     sin_psi, cos_psi, 0,
-                     0, 0, 1);
+        r_yaw = {
+            cos_psi, -sin_psi, 0,
+            sin_psi, cos_psi, 0,
+            0, 0, 1
+        };
     }
 }