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h/mercury: Use much faster quaternion change of basis

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This commit is contained in:
Moses Turner 2022-09-18 08:04:58 -05:00
parent 173d55c58b
commit 81764273ca
1 changed files with 13 additions and 1 deletions
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14
src/xrt/tracking/hand/mercury/kine_lm/lm_main.cpp
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@ -564,7 +564,8 @@ CostFunctor<optimize_hand_size>::operator()(const T *const x, T *residual) const
return true;
}
// look at tests_quat_change_of_basis
#if 0
template <typename T>
static inline void
zldtt_ori_right(Quat<T> &orientation, xrt_quat *out)
@ -591,6 +592,17 @@ zldtt_ori_right(Quat<T> &orientation, xrt_quat *out)
math_quat_from_plus_x_z(&x, &z, out);
}
#else
template <typename T>
static inline void
zldtt_ori_right(Quat<T> &orientation, xrt_quat *out)
{
out->x = -orientation.x;
out->y = orientation.y;
out->z = orientation.z;
out->w = -orientation.w;
}
#endif
template <typename T>
static inline void