Fixed rotation of SLA instances in case a rotation in X or Y was applied

to the instances.
This commit is contained in:
bubnikv 2019-04-08 13:35:03 +02:00
parent 9bc93134f9
commit ca6a5af1dc
4 changed files with 47 additions and 34 deletions

View file

@ -262,6 +262,13 @@ public:
Transformation operator * (const Transformation& other) const;
};
// Rotation when going from the first coordinate system with rotation rot_xyz_from applied
// to a coordinate system with rot_xyz_to applied.
extern Eigen::Quaterniond rotation_xyz_diff(const Vec3d &rot_xyz_from, const Vec3d &rot_xyz_to);
// Rotation by Z to align rot_xyz_from to rot_xyz_to.
// This should only be called if it is known, that the two rotations only differ in rotation around the Z axis.
extern double rotation_diff_z(const Vec3d &rot_xyz_from, const Vec3d &rot_xyz_to);
} }
#endif