diff options
| -rw-r--r-- | Eigen/src/Geometry/AngleAxis.h | 10 | ||||
| -rw-r--r-- | test/geo_transformations.cpp | 4 |
2 files changed, 14 insertions, 0 deletions
diff --git a/Eigen/src/Geometry/AngleAxis.h b/Eigen/src/Geometry/AngleAxis.h index da698bbfe..284c60a74 100644 --- a/Eigen/src/Geometry/AngleAxis.h +++ b/Eigen/src/Geometry/AngleAxis.h @@ -189,6 +189,16 @@ AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const MatrixBase<Derived>& mat) return *this = QuaternionType(mat); } +/** +* \brief Sets \c *this from a 3x3 rotation matrix. +**/ +template<typename Scalar> +template<typename Derived> +AngleAxis<Scalar>& AngleAxis<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat) +{ + return *this = QuaternionType(mat); +} + /** Constructs and \returns an equivalent 3x3 rotation matrix. */ template<typename Scalar> diff --git a/test/geo_transformations.cpp b/test/geo_transformations.cpp index fc542e71b..895fe0f08 100644 --- a/test/geo_transformations.cpp +++ b/test/geo_transformations.cpp @@ -85,6 +85,10 @@ template<typename Scalar, int Mode> void transformations(void) VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1); VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1); + aa.fromRotationMatrix(aa.toRotationMatrix()); + VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1); + VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1); + // AngleAxis VERIFY_IS_APPROX(AngleAxisx(a,v1.normalized()).toRotationMatrix(), Quaternionx(AngleAxisx(a,v1.normalized())).toRotationMatrix()); |