diff options
| -rw-r--r-- | Eigen/src/Geometry/EulerAngles.h | 14 | ||||
| -rw-r--r-- | unsupported/Eigen/src/EulerAngles/EulerSystem.h | 14 |
2 files changed, 24 insertions, 4 deletions
diff --git a/Eigen/src/Geometry/EulerAngles.h b/Eigen/src/Geometry/EulerAngles.h index b875b7a13..4865e58aa 100644 --- a/Eigen/src/Geometry/EulerAngles.h +++ b/Eigen/src/Geometry/EulerAngles.h @@ -55,7 +55,12 @@ MatrixBase<Derived>::eulerAngles(Index a0, Index a1, Index a2) const res[0] = atan2(coeff(j,i), coeff(k,i)); if((odd && res[0]<Scalar(0)) || ((!odd) && 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(coeff(j,i), coeff(k,i)).norm(); res[1] = -atan2(s2, coeff(i,i)); } @@ -84,7 +89,12 @@ MatrixBase<Derived>::eulerAngles(Index a0, Index a1, Index a2) const res[0] = atan2(coeff(j,k), coeff(k,k)); Scalar c2 = Vector2(coeff(i,i), coeff(i,j)).norm(); if((odd && res[0]<Scalar(0)) || ((!odd) && 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(-coeff(i,k), -c2); } else 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)); } |