diff options
| -rw-r--r-- | Eigen/src/Geometry/Quaternion.h | 3 | ||||
| -rw-r--r-- | test/geo_quaternion.cpp | 3 |
2 files changed, 5 insertions, 1 deletions
diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h index b8b41ebcf..285a93c15 100644 --- a/Eigen/src/Geometry/Quaternion.h +++ b/Eigen/src/Geometry/Quaternion.h @@ -377,7 +377,8 @@ template <class Derived> template <class OtherDerived> EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator*= (const QuaternionBase<OtherDerived>& other) { - return (derived() = derived() * other.derived()); + derived() = derived() * other.derived(); + return derived(); } /** Rotation of a vector by a quaternion. diff --git a/test/geo_quaternion.cpp b/test/geo_quaternion.cpp index 052c01fbf..311ffd2ec 100644 --- a/test/geo_quaternion.cpp +++ b/test/geo_quaternion.cpp @@ -59,6 +59,9 @@ template<typename Scalar> void quaternion(void) q1.coeffs().setRandom(); VERIFY_IS_APPROX(q1.coeffs(), (q1*q2).coeffs()); + // concatenation + q1 *= q2; + q1 = AngleAxisx(a, v0.normalized()); q2 = AngleAxisx(a, v1.normalized()); |