From b754712675b5d644ae950006afe0d1ceba0e1899 Mon Sep 17 00:00:00 2001 From: cnlohr Date: Sun, 12 Mar 2017 03:29:24 -0400 Subject: update with another test. --- src/poser_daveortho.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'src/poser_daveortho.c') diff --git a/src/poser_daveortho.c b/src/poser_daveortho.c index 80ddd90..beba7ad 100644 --- a/src/poser_daveortho.c +++ b/src/poser_daveortho.c @@ -74,13 +74,13 @@ int PoserDaveOrtho( SurviveObject * so, PoserData * pd ) FLT S_out[2][SENSORS_PER_OBJECT]; OrthoSolve( tOut, S_out, S_in, X_in, max_hits ); - //Now, we need to solve where we are as a function of where + //Now, we need to solve where we are as a function of where //the lighthouses are. FLT quat[4]; FLT posoff[3] = { tOut[0][3], tOut[1][3], tOut[2][3] }; FLT MT[4][4]; - //matrix44transpose( MT, &T[0][0] ); - matrix44copy( &MT[0][0], &tOut[0][0] ); + matrix44transpose( MT, &tOut[0][0] ); + //matrix44copy( &MT[0][0], &tOut[0][0] ); quatfrommatrix( quat, &MT[0][0] ); //printf( "QUAT: %f %f %f %f = %f\n", quat[0], quat[1], quat[2], quat[3], quatmagnitude(quat) ); -- cgit v1.2.3