removed debug printing.
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3d86c9b363
commit
4c1e9c559b
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@ -326,12 +326,10 @@ class Quaternion:
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if type.lower() == 'bunge' or type.lower() == 'zxz':
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if type.lower() == 'bunge' or type.lower() == 'zxz':
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if abs(self.x - self.y) < 1e-8:
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if abs(self.x - self.y) < 1e-8:
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print 'q.x approx q.y !!'
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x = self.w**2 - self.z**2
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x = self.w**2 - self.z**2
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y = 2.*self.w*self.z
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y = 2.*self.w*self.z
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angles[0] = math.atan2(y,x)
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angles[0] = math.atan2(y,x)
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elif abs(self.w - self.z) < 1e-8:
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elif abs(self.w - self.z) < 1e-8:
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print 'q.w approx q.z !!'
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x = self.x**2 - self.y**2
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x = self.x**2 - self.y**2
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y = 2.*self.x*self.y
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y = 2.*self.x*self.y
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angles[0] = math.atan2(y,x)
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angles[0] = math.atan2(y,x)
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@ -417,7 +415,7 @@ class Quaternion:
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y = - c1 * s2 * s3 + s1 * s2 * c3
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y = - c1 * s2 * s3 + s1 * s2 * c3
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z = c1 * c2 * s3 + s1 * c2 * c3
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z = c1 * c2 * s3 + s1 * c2 * c3
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else:
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else:
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print 'unknown Euler convention'
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# print 'unknown Euler convention'
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w = c1 * c2 * c3 - s1 * s2 * s3
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w = c1 * c2 * c3 - s1 * s2 * s3
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x = s1 * s2 * c3 + c1 * c2 * s3
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x = s1 * s2 * c3 + c1 * c2 * s3
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y = s1 * c2 * c3 + c1 * s2 * s3
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y = s1 * c2 * c3 + c1 * s2 * s3
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