From eef0469c4993dce599306f60ce73eae200acee9f Mon Sep 17 00:00:00 2001
From: Oleg Alexandrov <oleg.alexandrov@gmail.com>
Date: Thu, 18 Aug 2022 10:53:14 -0700
Subject: [PATCH] Apply transform to reference point in PushFrameSensor and
spellcheck
---
src/UsgsAstroPushFrameSensorModel.cpp | 5 +++++
src/Utilities.cpp | 2 +-
2 files changed, 6 insertions(+), 1 deletion(-)
diff --git a/src/UsgsAstroPushFrameSensorModel.cpp b/src/UsgsAstroPushFrameSensorModel.cpp
index 034fb51..1054200 100644
--- a/src/UsgsAstroPushFrameSensorModel.cpp
+++ b/src/UsgsAstroPushFrameSensorModel.cpp
@@ -518,6 +518,11 @@ void UsgsAstroPushFrameSensorModel::applyTransformToState(ale::Rotation const& r
applyRotationTranslationToXyzVec(r, zero_t, velocities);
j["m_velocities"] = velocities;
+ // Apply the transform to the reference point
+ std::vector<double> refPt = j["m_referencePointXyz"];
+ applyRotationTranslationToXyzVec(r, t, refPt);
+ j["m_referencePointXyz"] = refPt;
+
// We do not change the Sun position or velocity. The idea is that
// the Sun is so far, that minor camera adjustments won't affect
// where the Sun is.
diff --git a/src/Utilities.cpp b/src/Utilities.cpp
index 337e1e3..fcf20e6 100644
--- a/src/Utilities.cpp
+++ b/src/Utilities.cpp
@@ -34,7 +34,7 @@ void calculateRotationMatrixFromEuler(double euler[], double rotationMatrix[]) {
rotationMatrix[8] = cos_a * cos_b;
}
-// uses a quaternion to calclate a rotation matrix.
+// uses a quaternion to calculate a rotation matrix.
// in - q[4]
// out - rotationMatrix[9]
void calculateRotationMatrixFromQuaternions(double q[4],
--
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