diff options
Diffstat (limited to 'Eigen/src/Eigen2Support/Geometry/Quaternion.h')
| -rw-r--r-- | Eigen/src/Eigen2Support/Geometry/Quaternion.h | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/Eigen/src/Eigen2Support/Geometry/Quaternion.h b/Eigen/src/Eigen2Support/Geometry/Quaternion.h index a75fa42ae..bb6326416 100644 --- a/Eigen/src/Eigen2Support/Geometry/Quaternion.h +++ b/Eigen/src/Eigen2Support/Geometry/Quaternion.h @@ -314,9 +314,9 @@ Quaternion<Scalar>::toRotationMatrix(void) const // it has to be inlined, and so the return by value is not an issue Matrix3 res; - const Scalar tx = 2*this->x(); - const Scalar ty = 2*this->y(); - const Scalar tz = 2*this->z(); + const Scalar tx = Scalar(2)*this->x(); + const Scalar ty = Scalar(2)*this->y(); + const Scalar tz = Scalar(2)*this->z(); const Scalar twx = tx*this->w(); const Scalar twy = ty*this->w(); const Scalar twz = tz*this->w(); @@ -327,15 +327,15 @@ Quaternion<Scalar>::toRotationMatrix(void) const const Scalar tyz = tz*this->y(); const Scalar tzz = tz*this->z(); - res.coeffRef(0,0) = 1-(tyy+tzz); + res.coeffRef(0,0) = Scalar(1)-(tyy+tzz); res.coeffRef(0,1) = txy-twz; res.coeffRef(0,2) = txz+twy; res.coeffRef(1,0) = txy+twz; - res.coeffRef(1,1) = 1-(txx+tzz); + res.coeffRef(1,1) = Scalar(1)-(txx+tzz); res.coeffRef(1,2) = tyz-twx; res.coeffRef(2,0) = txz-twy; res.coeffRef(2,1) = tyz+twx; - res.coeffRef(2,2) = 1-(txx+tyy); + res.coeffRef(2,2) = Scalar(1)-(txx+tyy); return res; } |