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Fix exp of a real quaternion 

Former-commit-id: 2bd5c22c3690330e3881bd509bf4070cf2a21015
This commit is contained in:
Marek Nečada 2019-02-25 05:13:59 +00:00
parent d11ce9e8ee
commit e6d0936842
1 changed files with 1 additions and 1 deletions
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2
qpms/wigner.h
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@ -61,7 +61,7 @@ static inline qpms_quat_t qpms_quat_exp(const qpms_quat_t q) {
const qpms_quat4d_t q4 = qpms_quat_4d_from_2c(q);
const double vn = sqrt(q4.ci*q4.ci + q4.cj*q4.cj + q4.ck *q4.ck);
const double ea = exp(q4.c1);
const double cv = ea*sin(vn)/vn; // "vector" part common prefactor
const double cv = vn ? (ea*sin(vn)/vn) : ea; // "vector" part common prefactor
const qpms_quat4d_t r4 = {ea * cos(vn), cv*q4.ci, cv*q4.cj, cv*q4.ck};
return qpms_quat_2c_from_4d(r4);
}