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altos/test: Fix tests
[fw/altos]
/
altoslib
/
AltosRotation.java
diff --git
a/altoslib/AltosRotation.java
b/altoslib/AltosRotation.java
index 9771c1660f7716718a5f4756ae16f39b50a92e86..1235d86b90e57a1c0da9d3923b2c16db0cd09d0f 100644
(file)
--- a/
altoslib/AltosRotation.java
+++ b/
altoslib/AltosRotation.java
@@
-3,7
+3,8
@@
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
@@
-15,9
+16,9
@@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_
8
;
+package org.altusmetrum.altoslib_
11
;
-public class AltosRotation {
+public class AltosRotation
extends AltosQuaternion
{
private AltosQuaternion rotation;
public double tilt() {
private AltosQuaternion rotation;
public double tilt() {
@@
-28,7
+29,7
@@
public class AltosRotation {
}
public void rotate(double dt, double x, double y, double z) {
}
public void rotate(double dt, double x, double y, double z) {
- AltosQuaternion rot = AltosQuaternion.half_euler(x * dt
, y * dt, z * dt
);
+ AltosQuaternion rot = AltosQuaternion.half_euler(x * dt
/ 2.0, y * dt / 2.0, z * dt / 2.0
);
rotation = rot.multiply(rotation).normalize();
}
rotation = rot.multiply(rotation).normalize();
}
@@
-47,4
+48,8
@@
public class AltosRotation {
AltosQuaternion up = new AltosQuaternion(0, 0, 0, sky);
rotation = up.vectors_to_rotation(orient);
}
AltosQuaternion up = new AltosQuaternion(0, 0, 0, sky);
rotation = up.vectors_to_rotation(orient);
}
+
+ public AltosRotation() {
+ rotation = new AltosQuaternion();
+ }
}
}