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very little fixes: cast literals to Scalar, rephrase some doc, add some const (maybe completely

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useless but at least doesn't hurt)
This commit is contained in:
Benoit Jacob 2008-10-06 22:10:36 +00:00
parent 22507fa645
commit 4e502dd6b0
1 changed files with 22 additions and 20 deletions
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42
Eigen/src/Geometry/Quaternion.h
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@ -288,18 +288,18 @@ Quaternion<Scalar>::toRotationMatrix(void) const
// it has to be inlined, and so the return by value is not an issue // it has to be inlined, and so the return by value is not an issue
Matrix3 res; Matrix3 res;
Scalar tx = 2*this->x(); const Scalar tx = 2*this->x();
Scalar ty = 2*this->y(); const Scalar ty = 2*this->y();
Scalar tz = 2*this->z(); const Scalar tz = 2*this->z();
Scalar twx = tx*this->w(); const Scalar twx = tx*this->w();
Scalar twy = ty*this->w(); const Scalar twy = ty*this->w();
Scalar twz = tz*this->w(); const Scalar twz = tz*this->w();
Scalar txx = tx*this->x(); const Scalar txx = tx*this->x();
Scalar txy = ty*this->x(); const Scalar txy = ty*this->x();
Scalar txz = tz*this->x(); const Scalar txz = tz*this->x();
Scalar tyy = ty*this->y(); const Scalar tyy = ty*this->y();
Scalar tyz = tz*this->y(); const Scalar tyz = tz*this->y();
Scalar tzz = tz*this->z(); const Scalar tzz = tz*this->z();
res.coeffRef(0,0) = 1-(tyy+tzz); res.coeffRef(0,0) = 1-(tyy+tzz);
res.coeffRef(0,1) = txy-twz; res.coeffRef(0,1) = txy-twz;
@ -314,9 +314,11 @@ Quaternion<Scalar>::toRotationMatrix(void) const
return res; return res;
} }
/** Makes a quaternion representing the rotation between two vectors \a a and \a b. /** Sets *this to be a quaternion representing a rotation sending the vector \a a to the vector \a b.
* \returns a reference to the actual quaternion *
* Note that the two input vectors have \b not to be normalized. * \returns a reference to *this.
*
* Note that the two input vectors do \b not have to be normalized.
*/ */
template<typename Scalar> template<typename Scalar>
template<typename Derived1, typename Derived2> template<typename Derived1, typename Derived2>
@ -334,9 +336,9 @@ inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBas
this->w() = 1; this->vec().setZero(); this->w() = 1; this->vec().setZero();
} }
Scalar s = ei_sqrt((1+c)*2); Scalar s = ei_sqrt((1+c)*2);
Scalar invs = 1./s; Scalar invs = Scalar(1)/s;
this->vec() = axis * invs; this->vec() = axis * invs;
this->w() = s * 0.5; this->w() = s * Scalar(0.5);
return *this; return *this;
} }
@ -382,7 +384,7 @@ inline Scalar Quaternion<Scalar>::angularDistance(const Quaternion& other) const
double d = ei_abs(this->dot(other)); double d = ei_abs(this->dot(other));
if (d>=1.0) if (d>=1.0)
return 0; return 0;
return 2.0 * std::acos(d); return Scalar(2) * std::acos(d);
} }
/** \returns the spherical linear interpolation between the two quaternions /** \returns the spherical linear interpolation between the two quaternions
@ -439,8 +441,8 @@ struct ei_quaternion_assign_impl<Other,3,3>
int k = (j+1)%3; int k = (j+1)%3;
t = ei_sqrt(mat.coeff(i,i)-mat.coeff(j,j)-mat.coeff(k,k) + 1.0); t = ei_sqrt(mat.coeff(i,i)-mat.coeff(j,j)-mat.coeff(k,k) + 1.0);
q.coeffs().coeffRef(i) = 0.5 * t; q.coeffs().coeffRef(i) = Scalar(0.5) * t;
t = 0.5/t; t = Scalar(0.5)/t;
q.w() = (mat.coeff(k,j)-mat.coeff(j,k))*t; q.w() = (mat.coeff(k,j)-mat.coeff(j,k))*t;
q.coeffs().coeffRef(j) = (mat.coeff(j,i)+mat.coeff(i,j))*t; q.coeffs().coeffRef(j) = (mat.coeff(j,i)+mat.coeff(i,j))*t;
q.coeffs().coeffRef(k) = (mat.coeff(k,i)+mat.coeff(i,k))*t; q.coeffs().coeffRef(k) = (mat.coeff(k,i)+mat.coeff(i,k))*t;