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rm auto normalization in favor of clamping

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This commit is contained in:
Gael Guennebaud 2010-11-03 15:32:40 +01:00
parent d204ec491d
commit 8d27f55eb3
1 changed files with 5 additions and 2 deletions
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7
Eigen/src/Geometry/AngleAxis.h
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@ -161,8 +161,11 @@ typedef AngleAxis<float> AngleAxisf;
* double precision angle-axis type */ * double precision angle-axis type */
typedef AngleAxis<double> AngleAxisd; typedef AngleAxis<double> AngleAxisd;
/** Set \c *this from a quaternion. /** Set \c *this from a \b unit quaternion.
* The axis is normalized. * The axis is normalized.
*
* \warning As any other method dealing with quaternion, if the input quaternion
* is not normalized then the result is undefined.
*/ */
template<typename Scalar> template<typename Scalar>
template<typename QuatDerived> template<typename QuatDerived>
@ -176,7 +179,7 @@ AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived
} }
else else
{ {
m_angle = Scalar(2)*std::acos(q.w()/internal::sqrt(n2+q.w()*q.w())); m_angle = Scalar(2)*std::acos(std::min(std::max(Scalar(-1),q.w()),Scalar(1)));
m_axis = q.vec() / internal::sqrt(n2); m_axis = q.vec() / internal::sqrt(n2);
} }
return *this; return *this;