diff options
Diffstat (limited to 'extern/Eigen3/Eigen/src/Geometry/Quaternion.h')
| -rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/Quaternion.h | 34 |
1 files changed, 17 insertions, 17 deletions
diff --git a/extern/Eigen3/Eigen/src/Geometry/Quaternion.h b/extern/Eigen3/Eigen/src/Geometry/Quaternion.h index 9fee0c91980..25ed17bb690 100644 --- a/extern/Eigen3/Eigen/src/Geometry/Quaternion.h +++ b/extern/Eigen3/Eigen/src/Geometry/Quaternion.h @@ -102,11 +102,11 @@ public: /** \returns a quaternion representing an identity rotation * \sa MatrixBase::Identity() */ - static inline Quaternion<Scalar> Identity() { return Quaternion<Scalar>(1, 0, 0, 0); } + static inline Quaternion<Scalar> Identity() { return Quaternion<Scalar>(Scalar(1), Scalar(0), Scalar(0), Scalar(0)); } /** \sa QuaternionBase::Identity(), MatrixBase::setIdentity() */ - inline QuaternionBase& setIdentity() { coeffs() << 0, 0, 0, 1; return *this; } + inline QuaternionBase& setIdentity() { coeffs() << Scalar(0), Scalar(0), Scalar(0), Scalar(1); return *this; } /** \returns the squared norm of the quaternion's coefficients * \sa QuaternionBase::norm(), MatrixBase::squaredNorm() @@ -161,7 +161,7 @@ public: { return coeffs().isApprox(other.coeffs(), prec); } /** return the result vector of \a v through the rotation*/ - EIGEN_STRONG_INLINE Vector3 _transformVector(Vector3 v) const; + EIGEN_STRONG_INLINE Vector3 _transformVector(const Vector3& v) const; /** \returns \c *this with scalar type casted to \a NewScalarType * @@ -203,6 +203,8 @@ public: * \li \c Quaternionf for \c float * \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 */ @@ -229,7 +231,7 @@ class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> > public: typedef _Scalar Scalar; - EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Quaternion) + EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Quaternion) using Base::operator*=; typedef typename internal::traits<Quaternion>::Coefficients Coefficients; @@ -339,12 +341,12 @@ class Map<const Quaternion<_Scalar>, _Options > public: typedef _Scalar Scalar; typedef typename internal::traits<Map>::Coefficients Coefficients; - EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Map) + EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map) using Base::operator*=; /** 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 * * If the template parameter _Options is set to #Aligned, then the pointer coeffs must be aligned. */ @@ -376,7 +378,7 @@ class Map<Quaternion<_Scalar>, _Options > public: typedef _Scalar Scalar; typedef typename internal::traits<Map>::Coefficients Coefficients; - EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Map) + EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map) using Base::operator*=; /** Constructs a Mapped Quaternion object from the pointer \a coeffs @@ -459,12 +461,12 @@ EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator*= (const Quaterni */ template <class Derived> EIGEN_STRONG_INLINE typename QuaternionBase<Derived>::Vector3 -QuaternionBase<Derived>::_transformVector(Vector3 v) const +QuaternionBase<Derived>::_transformVector(const Vector3& v) const { // Note that this algorithm comes from the optimization by hand // of the conversion to a Matrix followed by a Matrix/Vector product. // 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 uv = this->vec().cross(v); uv += uv; @@ -584,7 +586,7 @@ inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Deri // which yields a singular value problem if (c < Scalar(-1)+NumTraits<Scalar>::dummy_precision()) { - c = max<Scalar>(c,-1); + c = (max)(c,Scalar(-1)); Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose(); JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV); Vector3 axis = svd.matrixV().col(2); @@ -635,7 +637,7 @@ inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Der { // FIXME should this function be called multiplicativeInverse and conjugate() be called inverse() or opposite() ?? Scalar n2 = this->squaredNorm(); - if (n2 > 0) + if (n2 > Scalar(0)) return Quaternion<Scalar>(conjugate().coeffs() / n2); else { @@ -665,12 +667,10 @@ template <class OtherDerived> inline typename internal::traits<Derived>::Scalar QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& other) const { - using std::acos; + using std::atan2; using std::abs; - double d = abs(this->dot(other)); - if (d>=1.0) - return Scalar(0); - return static_cast<Scalar>(2 * acos(d)); + Quaternion<Scalar> d = (*this) * other.conjugate(); + return Scalar(2) * atan2( d.vec().norm(), abs(d.w()) ); } @@ -710,7 +710,7 @@ QuaternionBase<Derived>::slerp(const Scalar& t, const QuaternionBase<OtherDerive scale0 = sin( ( Scalar(1) - t ) * theta) / sinTheta; scale1 = sin( ( t * theta) ) / sinTheta; } - if(d<0) scale1 = -scale1; + if(d<Scalar(0)) scale1 = -scale1; return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs()); } |