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fixed a typo in documentation

This commit is contained in:
Martin Diehl 2013-09-18 19:54:39 +00:00
parent 415892b8e7
commit 70c888f6ea
1 changed files with 3 additions and 3 deletions
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code/math.f90
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@ -38,7 +38,7 @@ module math
complex(pReal), parameter, public :: TWOPIIMG = (0.0_pReal,2.0_pReal)* PI !< Re(0.0), Im(2xPi)
real(pReal), dimension(3,3), parameter, public :: &
math_I3 = reshape([&
MATH_I3 = reshape([&
1.0_pReal,0.0_pReal,0.0_pReal, &
0.0_pReal,1.0_pReal,0.0_pReal, &
0.0_pReal,0.0_pReal,1.0_pReal &
@ -1680,7 +1680,7 @@ end function math_axisAngleToQ
!--------------------------------------------------------------------------------------------------
!> @brief orientation matrix from quaternion (w+ix+jy+kz)
!> @details taken from http://arxiv.org/pdf/math/0701759v1.pdf
!> @dteails see also http://en.wikipedia.org/wiki/Rotation_formalisms_in_three_dimensions
!> @details see also http://en.wikipedia.org/wiki/Rotation_formalisms_in_three_dimensions
!--------------------------------------------------------------------------------------------------
pure function math_qToR(q)
@ -1694,7 +1694,7 @@ pure function math_qToR(q)
T(i,j) = q(i+1_pInt) * q(j+1_pInt)
S = reshape( [0.0_pReal, -q(4), q(3), &
q(4), 0.0_pReal, -q(2), &
-q(3), q(2), 0.0_pReal],[3,3]) ! notation is transposed!
-q(3), q(2), 0.0_pReal],[3,3]) ! notation is transposed
math_qToR = (2.0_pReal * q(1)*q(1) - 1.0_pReal) * math_I3 &
+ 2.0_pReal * T - 2.0_pReal * q(1) * S