diff options
| -rw-r--r-- | Eigen/src/Geometry/AngleAxis.h | 7 |
1 files changed, 6 insertions, 1 deletions
diff --git a/Eigen/src/Geometry/AngleAxis.h b/Eigen/src/Geometry/AngleAxis.h index 7015daae9..36e84e399 100644 --- a/Eigen/src/Geometry/AngleAxis.h +++ b/Eigen/src/Geometry/AngleAxis.h @@ -33,6 +33,8 @@ * * \param _Scalar the scalar type, i.e., the type of the coefficients. * + * \warning When setting up an AngleAxis object, the axis vector \b must \b be \b normalized. + * * The following two typedefs are provided for convenience: * \li \c AngleAxisf for \c float * \li \c AngleAxisd for \c double @@ -82,7 +84,10 @@ public: /** Default constructor without initialization. */ AngleAxis() {} /** Constructs and initialize the angle-axis rotation from an \a angle in radian - * and an \a axis which must be normalized. */ + * and an \a axis which \b must \b be \b normalized. + * + * \warning If the \a axis vector is not normalized, then the angle-axis object + * represents an invalid rotation. */ template<typename Derived> inline AngleAxis(Scalar angle, const MatrixBase<Derived>& axis) : m_axis(axis), m_angle(angle) {} /** Constructs and initialize the angle-axis rotation from a quaternion \a q. */ |