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-rw-r--r--facetracknoir/rotation.h4
1 files changed, 2 insertions, 2 deletions
diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h
index 747a23f9..22f35abb 100644
--- a/facetracknoir/rotation.h
+++ b/facetracknoir/rotation.h
@@ -39,14 +39,14 @@ public:
d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;
}
- void toEuler(double& yaw, double& pitch, double& roll)
+ void toEuler(double& yaw, double& pitch, double& roll) const
{
roll = atan2(2.0*(a*b + c*d), 1.0 - 2.0*(b*b + c*c));
pitch = asin(2.0*(a*c - b*d));
yaw = atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d));
}
- const RotationType operator*(const RotationType& B)
+ const RotationType operator*(const RotationType& B) const
{
const RotationType& A = *this;
return RotationType(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d, // quaternion multiplication