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Fix matrix to quaternion (and angleaxis) conversion for matrix expression.

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This commit is contained in:
Gael Guennebaud 2015-12-01 09:45:56 +01:00
parent 844561939f
commit 6c02cbbb0f
2 changed files with 8 additions and 1 deletions
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3
Eigen/src/Geometry/Quaternion.h
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@ -739,8 +739,9 @@ template<typename Other>
struct quaternionbase_assign_impl<Other,3,3> struct quaternionbase_assign_impl<Other,3,3>
{ {
typedef typename Other::Scalar Scalar; typedef typename Other::Scalar Scalar;
template<class Derived> static inline void run(QuaternionBase<Derived>& q, const Other& mat) template<class Derived> static inline void run(QuaternionBase<Derived>& q, const Other& a_mat)
{ {
const typename internal::nested_eval<Other,2>::type mat(a_mat);
using std::sqrt; using std::sqrt;
// This algorithm comes from "Quaternion Calculus and Fast Animation", // This algorithm comes from "Quaternion Calculus and Fast Animation",
// Ken Shoemake, 1987 SIGGRAPH course notes // Ken Shoemake, 1987 SIGGRAPH course notes

6
test/geo_quaternion.cpp
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@ -49,6 +49,7 @@ template<typename Scalar, int Options> void quaternion(void)
*/ */
using std::abs; using std::abs;
typedef Matrix<Scalar,3,1> Vector3; typedef Matrix<Scalar,3,1> Vector3;
typedef Matrix<Scalar,3,3> Matrix3;
typedef Matrix<Scalar,4,1> Vector4; typedef Matrix<Scalar,4,1> Vector4;
typedef Quaternion<Scalar,Options> Quaternionx; typedef Quaternion<Scalar,Options> Quaternionx;
typedef AngleAxis<Scalar> AngleAxisx; typedef AngleAxis<Scalar> AngleAxisx;
@ -101,6 +102,11 @@ template<typename Scalar, int Options> void quaternion(void)
q2 = q1.toRotationMatrix(); q2 = q1.toRotationMatrix();
VERIFY_IS_APPROX(q1*v1,q2*v1); VERIFY_IS_APPROX(q1*v1,q2*v1);
Matrix3 rot1(q1);
VERIFY_IS_APPROX(q1*v1,rot1*v1);
Quaternionx q3(rot1.transpose()*rot1);
VERIFY_IS_APPROX(q3*v1,v1);
// angle-axis conversion // angle-axis conversion
AngleAxisx aa = AngleAxisx(q1); AngleAxisx aa = AngleAxisx(q1);