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Add reference to writeup of approach used in canonicalEulerAngles.

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Rasmus Munk Larsen 2023-05-24 15:52:26 +00:00
parent 307a417e1c
commit de1c884687
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Eigen/src/Geometry/EulerAngles.h
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@ -34,6 +34,8 @@ namespace Eigen {
* For Tait-Bryan angle configurations (a0 != a2), the returned angles are in the ranges [-pi:pi]x[-pi/2:pi/2]x[-pi:pi]. * For Tait-Bryan angle configurations (a0 != a2), the returned angles are in the ranges [-pi:pi]x[-pi/2:pi/2]x[-pi:pi].
* For proper Euler angle configurations (a0 == a2), the returned angles are in the ranges [-pi:pi]x[0:pi]x[-pi:pi]. * For proper Euler angle configurations (a0 == a2), the returned angles are in the ranges [-pi:pi]x[0:pi]x[-pi:pi].
* *
* The approach used is also described here: https://d3cw3dd2w32x2b.cloudfront.net/wp-content/uploads/2012/07/euler-angles.pdf
*
* \sa class AngleAxis * \sa class AngleAxis
*/ */
template<typename Derived> template<typename Derived>