Merged Confiliced in Transformhelper.cs

Author: JTiefnig

AttitudeIndicator/AttitudeIndicator.csproj

@@ -67,7 +67,6 @@
     <Compile Include="EulerAnglesDisplay.xaml.cs">
       <DependentUpon>EulerAnglesDisplay.xaml</DependentUpon>
     </Compile>
-    <Compile Include="GimbalVisual3D.cs" />
     <Compile Include="HorizontCanvas.cs" />
     <Compile Include="NotchRing.cs" />
     <Compile Include="QuaternionDisplay.xaml.cs">

AttitudeIndicator/TransformationHelper.cs

@@ -68,14 +68,19 @@ public static Vector3D GetEulerangle(Matrix3D mat)
             return new Vector3D(phi, theta, psi);
         }
 
+
         public static Quaternion UnitQuaternionFromEulerAngles(double Psi, double Theta, double Phi)
         {
             var q = new Quaternion(new Vector3D(0, 0, 1), Psi);
             q *= new Quaternion(new Vector3D(0, 1, 0), Theta);
             q *= new Quaternion(new Vector3D(1, 0, 0), Phi);
+
             return q;
         }
 
+
+
+
         /// <summary>
         /// Calculating Euler Angles form Quaternion... 
         /// </summary>

AttitudeIndicator/ViewModels/ApplicationViewModel.cs

@@ -76,20 +76,15 @@ void RotationToEulerAngles()
         /// Conversion of Euler angles to quaternion
         /// </summary>
         void EulerAnglesToRotation()
-        {
-
+        { 
             if (this.ProcessDirection != TransformDirection.None)
                 return;
 
             this.ProcessDirection = TransformDirection.EulerToQuaternion;
 
-            var q = new Quaternion(new Vector3D(0, 0, 1), Psi);
-            q *= new Quaternion(new Vector3D(0, 1, 0), Theta);
-            q *= new Quaternion(new Vector3D(1, 0, 0), Phi);
-
-            this.Rotation = q;
+            this.Rotation = TransformationHelper.UnitQuaternionFromEulerAngles(Psi, Theta, Phi);
             var mat = new Matrix3D();
-            mat.Rotate(q);
+            mat.Rotate(this.Rotation);
             this.AirPlaneMatrixTransform = mat;
 
             this.ProcessDirection = TransformDirection.None;