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angle-axis doc: make it more clear the axis must be normalized

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This commit is contained in:
Gael Guennebaud 2009-03-18 19:38:55 +00:00
parent dcf49e5a28
commit 3d385ae968
1 changed files with 6 additions and 1 deletions
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7
Eigen/src/Geometry/AngleAxis.h
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@ -33,6 +33,8 @@
* *
* \param _Scalar the scalar type, i.e., the type of the coefficients. * \param _Scalar the scalar type, i.e., the type of the coefficients.
* *
* \warning When setting up an AngleAxis object, the axis vector \b must \b be \b normalized.
*
* The following two typedefs are provided for convenience: * The following two typedefs are provided for convenience:
* \li \c AngleAxisf for \c float * \li \c AngleAxisf for \c float
* \li \c AngleAxisd for \c double * \li \c AngleAxisd for \c double
@ -82,7 +84,10 @@ public:
/** Default constructor without initialization. */ /** Default constructor without initialization. */
AngleAxis() {} AngleAxis() {}
/** Constructs and initialize the angle-axis rotation from an \a angle in radian /** Constructs and initialize the angle-axis rotation from an \a angle in radian
* and an \a axis which must be normalized. */ * and an \a axis which \b must \b be \b normalized.
*
* \warning If the \a axis vector is not normalized, then the angle-axis object
* represents an invalid rotation. */
template<typename Derived> template<typename Derived>
inline AngleAxis(Scalar angle, const MatrixBase<Derived>& axis) : m_axis(axis), m_angle(angle) {} inline AngleAxis(Scalar angle, const MatrixBase<Derived>& axis) : m_axis(axis), m_angle(angle) {}
/** Constructs and initialize the angle-axis rotation from a quaternion \a q. */ /** Constructs and initialize the angle-axis rotation from a quaternion \a q. */