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slight change in the comparison to -1

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This commit is contained in:
Gael Guennebaud 2009-07-10 08:21:20 +02:00
parent f84bd3e7b1
commit 629e083d81
2 changed files with 3 additions and 5 deletions
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6
Eigen/src/Geometry/Quaternion.h
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@ -368,20 +368,18 @@ inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBas
// under the constraint:
// ||x|| = 1
// which yields a singular value problem
if (ei_isApprox(c,Scalar(-1)))
if (c < Scalar(-1)+precision<Scalar>())
{
c = std::max<Scalar>(c,-1);
Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
SVD<Matrix<Scalar,2,3> > svd(m);
Vector3 axis = svd.matrixV().col(2);
Scalar w2 = (Scalar(1)+c)*Scalar(0.5);
this->w() = ei_sqrt(w2);
this->vec() = axis * ei_sqrt(Scalar(1) - w2);
return *this;
}
Vector3 axis = v0.cross(v1);
Scalar s = ei_sqrt((Scalar(1)+c)*Scalar(2));
Scalar invs = Scalar(1)/s;

2
Eigen/src/SVD/SVD.h
View File

@ -1,7 +1,7 @@
// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
//
// Eigen is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public