RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Correct axis on quaternion from swingtwist

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This commit is contained in:
Pascal Serrarens 2024-09-27 15:48:35 +02:00
parent 06e42c5b9f
commit 18756ba1a5
1 changed files with 2 additions and 2 deletions
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4
SwingTwist.cpp
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@ -49,7 +49,7 @@ SwingTwistOf<T> SwingTwistOf<T>::Degrees(float horizontal,
float vertical,
float twist) {
SwingTwistOf<T> orientation = SwingTwistOf<T>(AngleOf<T>::Degrees(horizontal),
AngleOf<T>::Degrees(vertical),
-AngleOf<T>::Degrees(vertical),
AngleOf<T>::Degrees(twist));
// DirectionOf<T> swing = DirectionOf<T>::Degrees(horizontal, vertical);
// AngleOf<T> twistAngle = AngleOf<T>::Degrees(twist);
@ -59,7 +59,7 @@ SwingTwistOf<T> SwingTwistOf<T>::Degrees(float horizontal,
template <typename T>
Quaternion SwingTwistOf<T>::ToQuaternion() const {
Quaternion q = Quaternion::Euler(this->swing.vertical.InDegrees(),
Quaternion q = Quaternion::Euler(-this->swing.vertical.InDegrees(),
this->swing.horizontal.InDegrees(),
this->twist.InDegrees());
return q;