RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Fixed inverse

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This commit is contained in:
Pascal Serrarens 2024-09-24 12:25:37 +02:00
parent 0ebfce48d7
commit 9eca318991
1 changed files with 2 additions and 1 deletions
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3
SwingTwist.cpp
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@ -89,7 +89,8 @@ SwingTwistOf<T> SwingTwistOf<T>::operator*=(const SwingTwistOf<T>& rotation) {
template <typename T> template <typename T>
SwingTwistOf<T> Passer::LinearAlgebra::SwingTwistOf<T>::Inverse( SwingTwistOf<T> Passer::LinearAlgebra::SwingTwistOf<T>::Inverse(
SwingTwistOf<T> rotation) { SwingTwistOf<T> rotation) {
SwingTwistOf<T> r = SwingTwistOf<T>(-rotation.swing, -rotation.twist); SwingTwistOf<T> r = SwingTwistOf<T>(
-rotation.swing.horizontal, -rotation.swing.vertical, -rotation.twist);
return r; return r;
} }