Base: [skip ci] handle gimbal lock when computing Euler angles

2021-10-27 17:02:07 +02:00
parent 16c08ec96f
commit b803d987b9
1 changed files with 1 additions and 1 deletions
--- a/src/Base/Rotation.cpp
+++ b/src/Base/Rotation.cpp
@@ -683,7 +683,7 @@ void Rotation::getYawPitchRoll(double& y, double& p, double& r) const
        // south pole
        y = 0.0;
        p = -D_PI/2.0;
-        r = -2.0 * atan2(quat[0],quat[3]);
+        r = 2.0 * atan2(quat[0],quat[3]);
    }
    else {
        y = atan2(2.0*(q01+q23),(q00+q33)-(q11+q22));