Fixed ordering on framer quaternions (#219)

src/UsgsAstroFrameSensorModel.cpp

@@ -1191,10 +1191,10 @@ void UsgsAstroFrameSensorModel::calcRotationMatrix(
     double m[3][3]) const {
   MESSAGE_LOG(this->m_logger, "Calculating rotation matrix");
   // Trigonometric functions for rotation matrix
-  double w = m_currentParameterValue[3];
-  double x = m_currentParameterValue[4];
-  double y = m_currentParameterValue[5];
-  double z = m_currentParameterValue[6];
+  double x = m_currentParameterValue[3];
+  double y = m_currentParameterValue[4];
+  double z = m_currentParameterValue[5];
+  double w = m_currentParameterValue[6];
 
   m[0][0] = w*w + x*x - y*y - z*z;
   m[0][1] = 2 * (x*y - w*z);
@@ -1212,10 +1212,10 @@ void UsgsAstroFrameSensorModel::calcRotationMatrix(
   double m[3][3], const std::vector<double> &adjustments) const {
   MESSAGE_LOG(this->m_logger, "Calculating rotation matrix with adjustments");
   // Trigonometric functions for rotation matrix
-  double w = getValue(3, adjustments);
-  double x = getValue(4, adjustments);
-  double y = getValue(5, adjustments);
-  double z = getValue(6, adjustments);
+  double x = getValue(3, adjustments);
+  double y = getValue(4, adjustments);
+  double z = getValue(5, adjustments);
+  double w = getValue(6, adjustments);
 
   m[0][0] = w*w + x*x - y*y - z*z;
   m[0][1] = 2 * (x*y - w*z);

tests/FrameCameraTests.cpp

@@ -229,7 +229,7 @@ TEST_F(FrameSensorModel, Rotation_NPole_Center) {
 
 
 TEST_F(FrameSensorModel, Rotation_SPole_Center) {
-   sensorModel->setParameterValue(4, 0.0); // phi
+   sensorModel->setParameterValue(3, 0.0); // phi
    sensorModel->setParameterValue(0, 0.0); // X
    sensorModel->setParameterValue(1, 0.0); // Y
    sensorModel->setParameterValue(2, -1000.0); // Z

tests/data/simpleFramerISD.json

@@ -46,7 +46,7 @@
 	},
 	"sensor_orientation": {
 		"quaternions": [
-			[0.0, -0.707106781186547, 0.0, 0.707106781186547]
+			[-0.707106781186547, 0.0, 0.707106781186547, 0.0]
 		]
 	},
 	"starting_detector_line": 0,