1 files changed, 0 insertions, 59 deletions
diff --git a/compat/euler.cpp b/compat/euler.cpp
index 7c753214..44b34f90 100644
--- a/compat/euler.cpp
+++ b/compat/euler.cpp
@@ -52,63 +52,4 @@ rmat OTR_COMPAT_EXPORT euler_to_rmat(const euler_t& input)
     };
 }
 
-// https://en.wikipedia.org/wiki/Davenport_chained_rotations#Tait.E2.80.93Bryan_chained_rotations
-void OTR_COMPAT_EXPORT tait_bryan_to_matrices(const euler_t& input,
-                                              rmat& r_roll,
-                                              rmat& r_pitch,
-                                              rmat& r_yaw)
-{
-    {
-        const double phi = -input(2);
-        const double sin_phi = sin(phi);
-        const double cos_phi = cos(phi);
-
-        r_roll = {
-            1, 0, 0,
-            0, cos_phi, -sin_phi,
-            0, sin_phi, cos_phi
-        };
-    }
-
-    {
-        const double theta = input(1);
-        const double sin_theta = sin(theta);
-        const double cos_theta = cos(theta);
-
-        r_pitch = {
-            cos_theta, 0, -sin_theta,
-            0, 1, 0,
-            sin_theta, 0, cos_theta
-        };
-    }
-
-    {
-        const double psi = -input(0);
-        const double sin_psi = sin(psi);
-        const double cos_psi = cos(psi);
-
-        r_yaw = {
-            cos_psi, -sin_psi, 0,
-            sin_psi, cos_psi, 0,
-            0, 0, 1
-        };
-    }
-}
-
-template<int H, int W, typename f = double>
-rmat quaternion_to_mat_(const Mat<f, H, W>& q)
-{
-    const double w = q.w(), x = q.x(), y = q.y(), z = q.z();
-    const double ww = w*w, xx = x*x, yy = y*y, zz = z*z;
-
-    return rmat(
-                ww + xx - yy - zz,  2 * (x*y - w*z),    2 * (x*z + w*y),
-                2 * (x*z - w*y),    2 * (y*z + w*x),    ww - xx - yy + zz,
-                2 * (x*y + w*z),    ww - xx + yy - zz,  2 * (y*z - w*x)
-            );
-}
-
-rmat OTR_COMPAT_EXPORT quaternion_to_mat(const dmat<1, 4>& q) { return quaternion_to_mat_(q); }
-//rmat OTR_COMPAT_EXPORT quaternion_to_mat(const dmat<4, 1>& q) { return quaternion_to_mat_(q); }
-
 } // end ns euler