From 613baa7e9473ced982ac7933f4007349d41d79d7 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 5 Oct 2014 21:02:29 +0200 Subject: fix typo --- facetracknoir/pose.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/facetracknoir/pose.hpp b/facetracknoir/pose.hpp index ec9faaa3..d925c0a8 100644 --- a/facetracknoir/pose.hpp +++ b/facetracknoir/pose.hpp @@ -44,7 +44,7 @@ public: Pose operator+(const Pose& B) const { - const Quat q = (quat() * B.quat().inv()); + const Quat q = quat() * B.quat(); Pose ret = fromQuat(q); for (int i = TX; i < Yaw; i++) ret(i) = B(i); @@ -56,7 +56,7 @@ public: Pose ret = *this; for (int i = 0; i < 6; i++) { - static constexpr double eps = 1e-5; + static constexpr double eps = 1e-3; // NB replace zero-valued elements with argument's if (std::abs(ret(i)) < eps) ret(i) = replacement(i); -- cgit v1.2.3