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revert previous change in Quaternion::setFromTwoVectors

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This commit is contained in:
Gael Guennebaud 2009-08-15 23:37:20 +02:00
parent 03c1e79f35
commit 044dd0c1dd
2 changed files with 2 additions and 1 deletions
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1
Eigen/Geometry
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@ -7,6 +7,7 @@
#include "Array" #include "Array"
#include "SVD" #include "SVD"
#include "LU"
#include <limits> #include <limits>
#ifndef M_PI #ifndef M_PI

2
Eigen/src/Geometry/Quaternion.h
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@ -373,7 +373,7 @@ inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBas
c = std::max<Scalar>(c,-1); c = std::max<Scalar>(c,-1);
Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose(); Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
SVD<Matrix<Scalar,2,3> > svd(m); SVD<Matrix<Scalar,2,3> > svd(m);
Vector3 axis = svd.matrixV().col(0); Vector3 axis = svd.matrixV().col(2);
Scalar w2 = (Scalar(1)+c)*Scalar(0.5); Scalar w2 = (Scalar(1)+c)*Scalar(0.5);
this->w() = ei_sqrt(w2); this->w() = ei_sqrt(w2);