[BUG???] get_vectors_from_quat() different than ouldridge(2011, p.152) phd thesis and rapaport (1985)

[alphataubio]

Not sure if this a a bug or im missing something. When i look at CUDA_lr_common.cuh:40 vs Ouldridge (2011) phd thesis p.152, then

a1.x = (sqx - sqy - sqz + sqw); BUT a1.x = sqx + sqy - sqz - sqw in phd thesis a1.y = 2 * (xy + zw); BUT a1.y = 2 (yz + xw) in phd thesis a1.z = 2 * (xz - yw); BUT a1.z = 2 (yw - xz) in phd thesis

a3.x = 2 * (xz + yw); OK a3.x = 2(yw+xz) same as phd thesis a3.y = 2 * (yz - xw); BUT a3.y = 2(zw-xy) in phd thesis a3.z = (-sqx - sqy + sqz + sqw); BUT a3.z = sqx - sqy - sqz + sqw in phd thesis

[alphataubio]

i figured out my mistake:

{q0,q1,q2,q3}={w,x,y,z} NOT {q0,q1,q2,q3}={x,y,z,w}