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Fixed rotation of SLA instances in case a rotation in X or Y was applied
to the instances.
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4 changed files with 47 additions and 34 deletions
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@ -262,6 +262,13 @@ public:
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Transformation operator * (const Transformation& other) const;
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};
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// Rotation when going from the first coordinate system with rotation rot_xyz_from applied
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// to a coordinate system with rot_xyz_to applied.
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extern Eigen::Quaterniond rotation_xyz_diff(const Vec3d &rot_xyz_from, const Vec3d &rot_xyz_to);
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// Rotation by Z to align rot_xyz_from to rot_xyz_to.
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// This should only be called if it is known, that the two rotations only differ in rotation around the Z axis.
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extern double rotation_diff_z(const Vec3d &rot_xyz_from, const Vec3d &rot_xyz_to);
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} }
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#endif
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