From d48a83dee202c38202be600f2cf464e4c9b48ef6 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Sat, 21 Jan 2023 15:16:35 -0800
Subject: [PATCH] [wpimath] Update Wikipedia links for quaternion to Euler
 angle conversion (NFC) (#4995)

---
 .../main/java/edu/wpi/first/math/geometry/Rotation3d.java   | 6 +++---
 wpimath/src/main/native/cpp/geometry/Rotation3d.cpp         | 6 +++---
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
index 3226e31f06..a0f46f6626 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
@@ -297,7 +297,7 @@ public class Rotation3d implements Interpolatable<Rotation3d> {
     final var y = m_q.getY();
     final var z = m_q.getZ();
 
-    // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_conversion
+    // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_(in_3-2-1_sequence)_conversion
     return Math.atan2(2.0 * (w * x + y * z), 1.0 - 2.0 * (x * x + y * y));
   }
 
@@ -312,7 +312,7 @@ public class Rotation3d implements Interpolatable<Rotation3d> {
     final var y = m_q.getY();
     final var z = m_q.getZ();
 
-    // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_conversion
+    // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_(in_3-2-1_sequence)_conversion
     double ratio = 2.0 * (w * y - z * x);
     if (Math.abs(ratio) >= 1.0) {
       return Math.copySign(Math.PI / 2.0, ratio);
@@ -332,7 +332,7 @@ public class Rotation3d implements Interpolatable<Rotation3d> {
     final var y = m_q.getY();
     final var z = m_q.getZ();
 
-    // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_conversion
+    // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_(in_3-2-1_sequence)_conversion
     return Math.atan2(2.0 * (w * z + x * y), 1.0 - 2.0 * (y * y + z * z));
   }
 
diff --git a/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp b/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
index 298f0e6740..b109682f70 100644
--- a/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
@@ -184,7 +184,7 @@ units::radian_t Rotation3d::X() const {
   double y = m_q.Y();
   double z = m_q.Z();
 
-  // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_conversion
+  // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_(in_3-2-1_sequence)_conversion
   return units::radian_t{
       std::atan2(2.0 * (w * x + y * z), 1.0 - 2.0 * (x * x + y * y))};
 }
@@ -195,7 +195,7 @@ units::radian_t Rotation3d::Y() const {
   double y = m_q.Y();
   double z = m_q.Z();
 
-  // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_conversion
+  // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_(in_3-2-1_sequence)_conversion
   double ratio = 2.0 * (w * y - z * x);
   if (std::abs(ratio) >= 1.0) {
     return units::radian_t{std::copysign(std::numbers::pi / 2.0, ratio)};
@@ -210,7 +210,7 @@ units::radian_t Rotation3d::Z() const {
   double y = m_q.Y();
   double z = m_q.Z();
 
-  // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_conversion
+  // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_(in_3-2-1_sequence)_conversion
   return units::radian_t{
       std::atan2(2.0 * (w * z + x * y), 1.0 - 2.0 * (y * y + z * z))};
 }