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Let's be safe: enable auto normalization is quaternion to angle-axis code since a slight numerical issue may trigger NaN. The overhead is small and I doubt the perf of this function could be critival for any application !

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Gael Guennebaud 2010-10-31 23:26:01 +01:00
parent 006c9a5105
commit c7eda0d866
1 changed files with 1 additions and 1 deletions
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2
Eigen/src/Geometry/AngleAxis.h
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@ -176,7 +176,7 @@ AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived
} }
else else
{ {
m_angle = 2*std::acos(q.w()); m_angle = Scalar(2)*std::acos(q.w()/*/internal::sqrt(n2+q.w()*q.w())*/);
m_axis = q.vec() / internal::sqrt(n2); m_axis = q.vec() / internal::sqrt(n2);
} }
return *this; return *this;