rotation conversion: deconfuse roll 90 yaw 90 #14778
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bresch
approved these changes
Apr 28, 2020
|
@bresch Extrinsic rotation. |
RomanBapst
approved these changes
Apr 28, 2020
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Describe problem solved by this pull request
Discussing with @baumanta, @julianoes, @RomanBapst over the coffee break some rotation implementations are just confusing with their extra steps.
Describe your solution
Do the minimal swapping which requires only one temporary variable and doesn't do unnecessary confusing assignments.
Test data / coverage
Untested, please review.
Additional context
#14512 (comment)