From 49d14acce6671b8b3eac338f0add25068fd78582 Mon Sep 17 00:00:00 2001 From: Fredrik Bagge Carlson Date: Wed, 28 Aug 2024 04:55:56 +0200 Subject: [PATCH] clarify docstring --- src/orientation.jl | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/orientation.jl b/src/orientation.jl index 62a31c40..81ae7582 100644 --- a/src/orientation.jl +++ b/src/orientation.jl @@ -113,9 +113,9 @@ end `R21` is a 3x3 matrix that transforms a vector from frame 1 to frame 2. `h1` is a vector resolved in frame 1. `h2` is the same vector in frame 2. -Typical usage: +Typical usage (world to local): ```julia -resolve2(ori(frame_a), a_0 - g_0) +g_a = resolve2(ori(frame_a), a_0 - g_0) ``` """ resolve2(R21::RotationMatrix, v1) = R21 * collect(v1) @@ -126,9 +126,9 @@ resolve2(R21::RotationMatrix, v1) = R21 * collect(v1) `R12` is a 3x3 matrix that transforms a vector from frame 1 to frame 2. `h2` is a vector resolved in frame 2. `h1` is the same vector in frame 1. -Typical usage: +Typical usage (local to world): ```julia -resolve1(ori(frame_a), r_ab) +r_wb = resolve1(ori(frame_a), r_ab) ``` """ resolve1(R21::RotationMatrix, v2) = R21'collect(v2)