GitHub-Proxy/eigen
1
0
Fork 0
mirror of https://gitlab.com/libeigen/eigen.git synced 2025-10-10 07:06:32 +08:00
Code Issues Packages Projects Releases Wiki Activity

two scalar conversion fixes

Browse Source
This commit is contained in:
Gael Guennebaud 2009-01-07 09:47:16 +00:00
parent 2db434265b
commit ac9d805c2f
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
Eigen/src/Geometry/Quaternion.h
View File

@ -354,7 +354,7 @@ inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBas
// set to identity // set to identity
this->w() = 1; this->vec().setZero(); this->w() = 1; this->vec().setZero();
} }
Scalar s = ei_sqrt((1+c)*2); Scalar s = ei_sqrt((Scalar(1)+c)*Scalar(2));
Scalar invs = Scalar(1)/s; Scalar invs = Scalar(1)/s;
this->vec() = axis * invs; this->vec() = axis * invs;
this->w() = s * Scalar(0.5); this->w() = s * Scalar(0.5);
@ -459,7 +459,7 @@ struct ei_quaternion_assign_impl<Other,3,3>
int j = (i+1)%3; int j = (i+1)%3;
int k = (j+1)%3; int k = (j+1)%3;
t = Scalar(ei_sqrt(mat.coeff(i,i)-mat.coeff(j,j)-mat.coeff(k,k) + 1.0)); t = ei_sqrt(mat.coeff(i,i)-mat.coeff(j,j)-mat.coeff(k,k) + Scalar(1.0));
q.coeffs().coeffRef(i) = Scalar(0.5) * t; q.coeffs().coeffRef(i) = Scalar(0.5) * t;
t = Scalar(0.5)/t; t = Scalar(0.5)/t;
q.w() = (mat.coeff(k,j)-mat.coeff(j,k))*t; q.w() = (mat.coeff(k,j)-mat.coeff(j,k))*t;