relax SVN archive

svn+ssh://bugman@.../svn/relax/1.3

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r10108 | bugman | 2010-01-05 19:10:19 +0100 (Tue, 05 Jan 2010) | 5 lines

Fixes for all the test_R_to_euler_ijk() unit tests.

The print out has also been significantly improved.
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r10109 | bugman | 2010-01-05 19:12:18 +0100 (Tue, 05 Jan 2010) | 9 lines

The rotation matrix to Euler angle algorithms have been converted to the general one of Ken Shoemake.

This is from Euler Angle Conversion. Graphics Gems IV. Paul Heckbert (ed.). Academic Press, 1994,
ISBN: 0123361567. pp. 222-229.

All of the R_to_euler_ijk() methods have been converted to call the new R_to_euler() method which
implements this.
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r10110 | bugman | 2010-01-05 19:14:09 +0100 (Tue, 05 Jan 2010) | 5 lines

Bug fix for the euler_xyx_to_R() function.

The R[y, x] element was incorrect!!!
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