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SLERP #163

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muellerr merged 4 commits from slerp into develop 2023-12-05 09:25:50 +01:00
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src/fsfw/globalfunctions/math/QuaternionOperations.cpp
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@ -48,7 +48,7 @@ void QuaternionOperations::slerp(const double q1[4], const double q2[4], const d
VectorOperations<double>::mulScalar(q1, std::sin((1 - weight) * angle) / std::sin(angle), left,
4);
VectorOperations<double>::mulScalar(q1, std::sin(weight * angle) / std::sin(angle), right, 4);
VectorOperations<double>::mulScalar(q2, std::sin(weight * angle) / std::sin(angle), right, 4);
VectorOperations<double>::add(left, right, q, 4);
normalize(q);