From a0908abb7ae26eb2325dd176cff6e13ebedd8195 Mon Sep 17 00:00:00 2001 From: Ryker Fish Date: Sun, 22 Nov 2020 20:59:47 -0700 Subject: [PATCH] Fixed bug in rotation matrix to quaternion conversion where the resulting quaternion would not always get minimized. --- src/tf.c | 1 + 1 file changed, 1 insertion(+) diff --git a/src/tf.c b/src/tf.c index d71f8928..aa394f4d 100644 --- 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], */