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Small quaternion from vector improvements #78
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dagar
reviewed
Dec 16, 2018
dagar
reviewed
Dec 16, 2018
| if (cr.norm() < eps && dt < 0) { | ||
| // handle corner cases with 180 degree rotations | ||
| // if the two vectors are parallel, cross product is zero | ||
| // if they point opposite, the dot product is negative | ||
| cr = src.abs(); |
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No because in this corner case cr the cross product was a zero vector which is useless to determine the rotation direction. So we infer the adequate direction by a fused method, more details in the original description: #55 (comment) For that cr needs to contain something different.
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It's incredibly minor, but I was only suggesting not reusing variables (cr) for different purposes.
If I didn't miss anything (on a tiny screen) cr is being used as a temp to hold the source absolute values, then a unit vector, then finally the cross product of source with that unit vector.
LorenzMeier
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Functional change: do not recalculate the dot product in the normal case
Comments: a bit more clear and synced up with the prototyping script: Auterion/Flight_Control_Prototyping_Scripts#1