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clang-format
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ddement committed Jul 30, 2024
1 parent fb0448f commit 073e70c
Showing 1 changed file with 1 addition and 3 deletions.
4 changes: 1 addition & 3 deletions src/restruct_poc/math/quaternion_operations.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -59,9 +59,7 @@ KOKKOS_INLINE_FUNCTION void RotateVectorByQuaternion(
(q(0) * q(0) - q(1) * q(1) - q(2) * q(2) + q(3) * q(3)) * v(2);
}

inline std::array<double, 3> RotateVectorByQuaternion(
const Array_4& q, const Array_3& v
) {
inline std::array<double, 3> RotateVectorByQuaternion(const Array_4& q, const Array_3& v) {
auto v_rot = std::array<double, 3>{};
v_rot[0] = (q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]) * v[0] +
2. * (q[1] * q[2] - q[0] * q[3]) * v[1] + 2. * (q[1] * q[3] + q[0] * q[2]) * v[2];
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