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Alexandre Janniaux authored
The function was doing the wrong operation. The underlying rotation, which is R = Rz(roll) Rx(pitch) Ry(yaw), was transformed into the product Rz(-roll) Rx(-pitch) Ry(-yaw), whereas the correct transformation would have been Ry(-yaw) Rx(-pitch) Rz(-roll), which leads to a reversed rotation order. In simpler term, this was a good idea to help understand what was happening but it was wrongly executed. Removing the function and using the correct input for writing the matrix simplifies the code and makes the future quaternion code more logical. The correct version of this process can be done later if still needed.
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