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| author |  Gael Guennebaud <g.gael@free.fr> | 2016-09-22 22:32:55 +0200 |
|---|---|---|
| committer | Gael Guennebaud <g.gael@free.fr> | 2016-09-22 22:32:55 +0200 |
| commit | 8f2bdde37385f59c004b8a18e65173f3cf17663e (patch) | |
| tree | 72e38efc63512aed1f5c29cab1d64d171e52a81a /unsupported/Eigen/src/EulerAngles/EulerSystem.h | |
| parent | ba0f844d6b8cc26cf315311f536239dbbd330464 (diff) | |
| parent | 9bcdc8b75669d2a2ec3a7e1fe6ae96854a0bc2e4 (diff) | |
merge
Diffstat (limited to 'unsupported/Eigen/src/EulerAngles/EulerSystem.h')
| -rw-r--r-- | unsupported/Eigen/src/EulerAngles/EulerSystem.h | 14 |
1 files changed, 12 insertions, 2 deletions
diff --git a/unsupported/Eigen/src/EulerAngles/EulerSystem.h b/unsupported/Eigen/src/EulerAngles/EulerSystem.h index 82243e643..98f9f647d 100644 --- a/unsupported/Eigen/src/EulerAngles/EulerSystem.h +++ b/unsupported/Eigen/src/EulerAngles/EulerSystem.h @@ -189,7 +189,12 @@ namespace Eigen res[0] = atan2(mat(J,K), mat(K,K)); Scalar c2 = Vector2(mat(I,I), mat(I,J)).norm(); if((IsOdd && res[0]<Scalar(0)) || ((!IsOdd) && res[0]>Scalar(0))) { - res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(EIGEN_PI) : res[0] + Scalar(EIGEN_PI); + if(res[0] > Scalar(0)) { + res[0] -= Scalar(EIGEN_PI); + } + else { + res[0] += Scalar(EIGEN_PI); + } res[1] = atan2(-mat(I,K), -c2); } else @@ -212,7 +217,12 @@ namespace Eigen res[0] = atan2(mat(J,I), mat(K,I)); if((IsOdd && res[0]<Scalar(0)) || ((!IsOdd) && res[0]>Scalar(0))) { - res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(EIGEN_PI) : res[0] + Scalar(EIGEN_PI); + if(res[0] > Scalar(0)) { + res[0] -= Scalar(EIGEN_PI); + } + else { + res[0] += Scalar(EIGEN_PI); + } Scalar s2 = Vector2(mat(J,I), mat(K,I)).norm(); res[1] = -atan2(s2, mat(I,I)); } |