Commite497c77

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Fix arcsin domain error

1 parent343b3dc commite497c77Copy full SHA for e497c77

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Lines changed: 4 additions & 3 deletions

Original file line number	Diff line number	Diff line change
`@@ -4023,9 +4023,10 @@ def as_cardan_angles(self):`
`4023`	`4023`	The inverse of `from_cardan_angles()`.
`4024`	`4024`	`Note that the angles returned are in radians, not degrees.`
`4025`	`4025`	`"""`
`4026`		`-qw=self.scalar`
`4027`		`-qx,qy,qz=self.vector[..., :]`
	`4026`	`+n=np.sqrt(self.norm)`
	`4027`	`+qw=self.scalar/n`
	`4028`	`+qx,qy,qz=self.vector[..., :]/n`
`4028`	`4029`	`azim=np.arctan2(2(-qwqz+qxqy),qwqw+qxqx-qyqy-qz*qz)`
`4029`		`-elev=np.arcsin(2(qwqy+qzqx)/(qwqw+qxqx+qyqy+qz*qz))# noqa E201`
	`4030`	`+elev=np.arcsin(np.clip(2(qxqz+qw*qy),-1,1))`
`4030`	`4031`	`roll=np.arctan2(2(qwqx-qyqz),qwqw-qxqx-qyqy+qz*qz)# noqa E201`
`4031`	`4032`	`returnelev,azim,roll`

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