Merge pull request #16 from dyalab/bugfix/rotmat-to-quat

Fixed bug where RotMat->Quat conversion would not give a minimized quaternion
golems · May 21, 2021 · 021a657 · 021a657
2 parents 4eb1661 + a0908ab
commit 021a657
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/src/tf.c b/src/tf.c
@@ -286,6 +286,7 @@ void aa_tf_rotmat2quat( const double R[restrict 9],
     }
 
     aa_tf_qnormalize(q);
+    aa_tf_qminimize(q);
 }
 
 /* void aa_tf_rotvec2quat( const double rotvec[restrict 3], */