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bug #759: Removed hard-coded double-math from Quaternion::angularDistance.

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Some documentation improvements
This commit is contained in:
Christoph Hertzberg 2014-03-12 13:43:19 +01:00
parent bbc0ada12a
commit 88aa18df64
1 changed files with 7 additions and 5 deletions
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12
Eigen/src/Geometry/Quaternion.h
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@ -204,6 +204,8 @@ class QuaternionBase : public RotationBase<Derived, 3>
* \li \c Quaternionf for \c float * \li \c Quaternionf for \c float
* \li \c Quaterniond for \c double * \li \c Quaterniond for \c double
* *
* \warning Operations interpreting the quaternion as rotation have undefined behavior if the quaternion is not normalized.
*
* \sa class AngleAxis, class Transform * \sa class AngleAxis, class Transform
*/ */
@ -345,7 +347,7 @@ class Map<const Quaternion<_Scalar>, _Options >
/** Constructs a Mapped Quaternion object from the pointer \a coeffs /** Constructs a Mapped Quaternion object from the pointer \a coeffs
* *
* The pointer \a coeffs must reference the four coeffecients of Quaternion in the following order: * The pointer \a coeffs must reference the four coefficients of Quaternion in the following order:
* \code *coeffs == {x, y, z, w} \endcode * \code *coeffs == {x, y, z, w} \endcode
* *
* If the template parameter _Options is set to #Aligned, then the pointer coeffs must be aligned. */ * If the template parameter _Options is set to #Aligned, then the pointer coeffs must be aligned. */
@ -465,7 +467,7 @@ QuaternionBase<Derived>::_transformVector(Vector3 v) const
// Note that this algorithm comes from the optimization by hand // Note that this algorithm comes from the optimization by hand
// of the conversion to a Matrix followed by a Matrix/Vector product. // of the conversion to a Matrix followed by a Matrix/Vector product.
// It appears to be much faster than the common algorithm found // It appears to be much faster than the common algorithm found
// in the litterature (30 versus 39 flops). It also requires two // in the literature (30 versus 39 flops). It also requires two
// Vector3 as temporaries. // Vector3 as temporaries.
Vector3 uv = this->vec().cross(v); Vector3 uv = this->vec().cross(v);
uv += uv; uv += uv;
@ -668,10 +670,10 @@ QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& oth
{ {
using std::acos; using std::acos;
using std::abs; using std::abs;
double d = abs(this->dot(other)); Scalar d = abs(this->dot(other));
if (d>=1.0) if (d>=Scalar(1))
return Scalar(0); return Scalar(0);
return static_cast<Scalar>(2 * acos(d)); return Scalar(2) * acos(d);
} }