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add normalization functions to Quaternion and fix compilation

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issue with custom types
This commit is contained in:
Gael Guennebaud 2008-09-14 12:21:22 +00:00
parent db030d4e28
commit 0940ad7127
1 changed files with 10 additions and 3 deletions
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13
Eigen/src/Geometry/Quaternion.h
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@ -163,6 +163,13 @@ public:
*/ */
inline Scalar norm() const { return m_coeffs.norm(); } inline Scalar norm() const { return m_coeffs.norm(); }
/** Normalizes the quaternion \c *this
* \sa normalized(), MatrixBase::normalize() */
inline void normalize() { m_coeffs.normalize(); }
/** \returns a normalized version of \c *this
* \sa normalize(), MatrixBase::normalized() */
inline Quaternion normalized() const { Quaternion(m_coeffs.normalized()); }
/** \returns the dot product of \c *this and \a other /** \returns the dot product of \c *this and \a other
* Geometrically speaking, the dot product of two unit quaternions * Geometrically speaking, the dot product of two unit quaternions
* corresponds to the cosine of half the angle between the two rotations. * corresponds to the cosine of half the angle between the two rotations.
@ -414,9 +421,9 @@ struct ei_quaternion_assign_impl<Other,3,3>
Scalar t = mat.trace(); Scalar t = mat.trace();
if (t > 0) if (t > 0)
{ {
t = ei_sqrt(t + 1.0); t = ei_sqrt(t + Scalar(1.0));
q.w() = 0.5*t; q.w() = Scalar(0.5)*t;
t = 0.5/t; t = Scalar(0.5)/t;
q.x() = (mat.coeff(2,1) - mat.coeff(1,2)) * t; q.x() = (mat.coeff(2,1) - mat.coeff(1,2)) * t;
q.y() = (mat.coeff(0,2) - mat.coeff(2,0)) * t; q.y() = (mat.coeff(0,2) - mat.coeff(2,0)) * t;
q.z() = (mat.coeff(1,0) - mat.coeff(0,1)) * t; q.z() = (mat.coeff(1,0) - mat.coeff(0,1)) * t;