mirror/eigen
2
0
Fork 0
mirror of https://gitlab.com/libeigen/eigen.git synced 2024-12-15 07:10:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

very little fixes: cast literals to Scalar, rephrase some doc, add some const (maybe completely

Browse Source 
useless but at least doesn't hurt)
This commit is contained in:
Benoit Jacob 2008-10-06 22:10:36 +00:00
parent 22507fa645
commit 4e502dd6b0
1 changed files with 22 additions and 20 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

42
Eigen/src/Geometry/Quaternion.h
View File

@ -288,18 +288,18 @@ Quaternion<Scalar>::toRotationMatrix(void) const
// it has to be inlined, and so the return by value is not an issue
Matrix3 res;
Scalar tx = 2*this->x();
Scalar ty = 2*this->y();
Scalar tz = 2*this->z();
Scalar twx = tx*this->w();
Scalar twy = ty*this->w();
Scalar twz = tz*this->w();
Scalar txx = tx*this->x();
Scalar txy = ty*this->x();
Scalar txz = tz*this->x();
Scalar tyy = ty*this->y();
Scalar tyz = tz*this->y();
Scalar tzz = tz*this->z();
const Scalar tx = 2*this->x();
const Scalar ty = 2*this->y();
const Scalar tz = 2*this->z();
const Scalar twx = tx*this->w();
const Scalar twy = ty*this->w();
const Scalar twz = tz*this->w();
const Scalar txx = tx*this->x();
const Scalar txy = ty*this->x();
const Scalar txz = tz*this->x();
const Scalar tyy = ty*this->y();
const Scalar tyz = tz*this->y();
const Scalar tzz = tz*this->z();
res.coeffRef(0,0) = 1-(tyy+tzz);
res.coeffRef(0,1) = txy-twz;
@ -314,9 +314,11 @@ Quaternion<Scalar>::toRotationMatrix(void) const
return res;
}
/** Makes a quaternion representing the rotation between two vectors \a a and \a b.
* \returns a reference to the actual quaternion
* Note that the two input vectors have \b not to be normalized.
/** Sets *this to be a quaternion representing a rotation sending the vector \a a to the vector \a b.
*
* \returns a reference to *this.
*
* Note that the two input vectors do \b not have to be normalized.
*/
template<typename Scalar>
template<typename Derived1, typename Derived2>
@ -334,9 +336,9 @@ inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBas
this->w() = 1; this->vec().setZero();
}
Scalar s = ei_sqrt((1+c)*2);
Scalar invs = 1./s;
Scalar invs = Scalar(1)/s;
this->vec() = axis * invs;
this->w() = s * 0.5;
this->w() = s * Scalar(0.5);
return *this;
}
@ -382,7 +384,7 @@ inline Scalar Quaternion<Scalar>::angularDistance(const Quaternion& other) const
double d = ei_abs(this->dot(other));
if (d>=1.0)
return 0;
return 2.0 * std::acos(d);
return Scalar(2) * std::acos(d);
}
/** \returns the spherical linear interpolation between the two quaternions
@ -439,8 +441,8 @@ struct ei_quaternion_assign_impl<Other,3,3>
int k = (j+1)%3;
t = ei_sqrt(mat.coeff(i,i)-mat.coeff(j,j)-mat.coeff(k,k) + 1.0);
q.coeffs().coeffRef(i) = 0.5 * t;
t = 0.5/t;
q.coeffs().coeffRef(i) = Scalar(0.5) * t;
t = Scalar(0.5)/t;
q.w() = (mat.coeff(k,j)-mat.coeff(j,k))*t;
q.coeffs().coeffRef(j) = (mat.coeff(j,i)+mat.coeff(i,j))*t;
q.coeffs().coeffRef(k) = (mat.coeff(k,i)+mat.coeff(i,k))*t;