ViewVC Help
View File | Revision Log | Show Annotations | View Changeset | Root Listing
root/group/trunk/OOPSE-4/src/math/Quaternion.hpp
(Generate patch)

Comparing trunk/OOPSE-4/src/math/Quaternion.hpp (file contents):
Revision 1586 by tim, Sun Oct 17 01:19:11 2004 UTC vs.
Revision 1592 by tim, Mon Oct 18 17:07:27 2004 UTC

# Line 205 | Line 205 | namespace oopse{
205               * Returns the corresponding rotation matrix (3x3)
206               * @return a 3x3 rotation matrix
207               */
208 <            SquareMatrix<Real, 3, 3> toRotationMatrix3() {
209 <                SquareMatrix<Real, 3, 3> rotMat3;
208 >            SquareMatrix<Real, 3> toRotationMatrix3() {
209 >                SquareMatrix<Real, 3> rotMat3;
210  
211                  Real w2;
212                  Real x2;
# Line 268 | Line 268 | namespace oopse{
268       * @note for a quaternion q, 1/q = q.inverse()
269       */
270      template<typename Real>
271 <    Quaternion<Real> operator /(const Quaternion<Real>& s, const Quaternion<Real>& q) {
271 >    Quaternion<Real> operator /(const Real& s, const Quaternion<Real>& q) {
272  
273          Quaternion<Real> x = q.inv();
274          return x * s;

Diff Legend

– Removed lines
+ Added lines
< Changed lines
> Changed lines