diff options
Diffstat (limited to 'extern/Eigen3/Eigen/src/Geometry/Rotation2D.h')
| -rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/Rotation2D.h | 15 |
1 files changed, 9 insertions, 6 deletions
diff --git a/extern/Eigen3/Eigen/src/Geometry/Rotation2D.h b/extern/Eigen3/Eigen/src/Geometry/Rotation2D.h index 868e2ef312f..1cac343a5ee 100644 --- a/extern/Eigen3/Eigen/src/Geometry/Rotation2D.h +++ b/extern/Eigen3/Eigen/src/Geometry/Rotation2D.h @@ -59,7 +59,7 @@ protected: public: /** Construct a 2D counter clock wise rotation from the angle \a a in radian. */ - inline Rotation2D(Scalar a) : m_angle(a) {} + inline Rotation2D(const Scalar& a) : m_angle(a) {} /** \returns the rotation angle */ inline Scalar angle() const { return m_angle; } @@ -89,7 +89,7 @@ public: /** \returns the spherical interpolation between \c *this and \a other using * parameter \a t. It is in fact equivalent to a linear interpolation. */ - inline Rotation2D slerp(Scalar t, const Rotation2D& other) const + inline Rotation2D slerp(const Scalar& t, const Rotation2D& other) const { return m_angle * (1-t) + other.angle() * t; } /** \returns \c *this with scalar type casted to \a NewScalarType @@ -114,7 +114,7 @@ public: * determined by \a prec. * * \sa MatrixBase::isApprox() */ - bool isApprox(const Rotation2D& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const + bool isApprox(const Rotation2D& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const { return internal::isApprox(m_angle,other.m_angle, prec); } }; @@ -133,8 +133,9 @@ template<typename Scalar> template<typename Derived> Rotation2D<Scalar>& Rotation2D<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat) { + using std::atan2; EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime==2 && Derived::ColsAtCompileTime==2,YOU_MADE_A_PROGRAMMING_MISTAKE) - m_angle = internal::atan2(mat.coeff(1,0), mat.coeff(0,0)); + m_angle = atan2(mat.coeff(1,0), mat.coeff(0,0)); return *this; } @@ -144,8 +145,10 @@ template<typename Scalar> typename Rotation2D<Scalar>::Matrix2 Rotation2D<Scalar>::toRotationMatrix(void) const { - Scalar sinA = internal::sin(m_angle); - Scalar cosA = internal::cos(m_angle); + using std::sin; + using std::cos; + Scalar sinA = sin(m_angle); + Scalar cosA = cos(m_angle); return (Matrix2() << cosA, -sinA, sinA, cosA).finished(); } |