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-rw-r--r--compat/euler.cpp6
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);