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Fixed Quaternion operator*= added regression test.

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This commit is contained in:
Hauke Heibel 2010-01-28 10:32:44 +01:00
parent 98a584ceb8
commit 33abe75afa
2 changed files with 5 additions and 1 deletions
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3
Eigen/src/Geometry/Quaternion.h
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@ -377,7 +377,8 @@ template <class Derived>
template <class OtherDerived> template <class OtherDerived>
EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator*= (const QuaternionBase<OtherDerived>& other) EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator*= (const QuaternionBase<OtherDerived>& other)
{ {
return (derived() = derived() * other.derived()); derived() = derived() * other.derived();
return derived();
} }
/** Rotation of a vector by a quaternion. /** Rotation of a vector by a quaternion.

3
test/geo_quaternion.cpp
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@ -59,6 +59,9 @@ template<typename Scalar> void quaternion(void)
q1.coeffs().setRandom(); q1.coeffs().setRandom();
VERIFY_IS_APPROX(q1.coeffs(), (q1*q2).coeffs()); VERIFY_IS_APPROX(q1.coeffs(), (q1*q2).coeffs());
// concatenation
q1 *= q2;
q1 = AngleAxisx(a, v0.normalized()); q1 = AngleAxisx(a, v0.normalized());
q2 = AngleAxisx(a, v1.normalized()); q2 = AngleAxisx(a, v1.normalized());