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s/std::atan2/ei_atan2

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This commit is contained in:
Gael Guennebaud 2009-07-31 10:08:23 +02:00
parent 2dce3311f7
commit 841ec959e5
2 changed files with 13 additions and 13 deletions
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16
Eigen/src/Geometry/EulerAngles.h
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@ -60,31 +60,31 @@ MatrixBase<Derived>::eulerAngles(int a0, int a1, int a2) const
if (a0==a2) if (a0==a2)
{ {
Scalar s = Vector2(coeff(j,i) , coeff(k,i)).norm(); Scalar s = Vector2(coeff(j,i) , coeff(k,i)).norm();
res[1] = std::atan2(s, coeff(i,i)); res[1] = ei_atan2(s, coeff(i,i));
if (s > epsilon) if (s > epsilon)
{ {
res[0] = std::atan2(coeff(j,i), coeff(k,i)); res[0] = ei_atan2(coeff(j,i), coeff(k,i));
res[2] = std::atan2(coeff(i,j),-coeff(i,k)); res[2] = ei_atan2(coeff(i,j),-coeff(i,k));
} }
else else
{ {
res[0] = Scalar(0); res[0] = Scalar(0);
res[2] = (coeff(i,i)>0?1:-1)*std::atan2(-coeff(k,j), coeff(j,j)); res[2] = (coeff(i,i)>0?1:-1)*ei_atan2(-coeff(k,j), coeff(j,j));
} }
} }
else else
{ {
Scalar c = Vector2(coeff(i,i) , coeff(i,j)).norm(); Scalar c = Vector2(coeff(i,i) , coeff(i,j)).norm();
res[1] = std::atan2(-coeff(i,k), c); res[1] = ei_atan2(-coeff(i,k), c);
if (c > epsilon) if (c > epsilon)
{ {
res[0] = std::atan2(coeff(j,k), coeff(k,k)); res[0] = ei_atan2(coeff(j,k), coeff(k,k));
res[2] = std::atan2(coeff(i,j), coeff(i,i)); res[2] = ei_atan2(coeff(i,j), coeff(i,i));
} }
else else
{ {
res[0] = Scalar(0); res[0] = Scalar(0);
res[2] = (coeff(i,k)>0?1:-1)*std::atan2(-coeff(k,j), coeff(j,j)); res[2] = (coeff(i,k)>0?1:-1)*ei_atan2(-coeff(k,j), coeff(j,j));
} }
} }
if (!odd) if (!odd)