Fixed bug in rotation matrix to quaternion conversion where the resul…

…ting quaternion would not always get minimized.
golems · Nov 23, 2020 · a0908ab · a0908ab
1 parent 6c660b2
commit a0908ab
Showing 1 changed file with 1 addition and 0 deletions.
diff --git 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], */