diff options
Diffstat (limited to 'Eigen/src/Eigenvalues')
| -rw-r--r-- | Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h | 13 |
1 files changed, 10 insertions, 3 deletions
diff --git a/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h b/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h index 02174b0d2..742048153 100644 --- a/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h +++ b/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h @@ -554,6 +554,7 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3 inline static void run(SolverType& solver, const MatrixType& mat, int options) { + using std::sqrt; eigen_assert(mat.cols() == 3 && mat.cols() == mat.rows()); eigen_assert((options&~(EigVecMask|GenEigMask))==0 && (options&EigVecMask)!=EigVecMask @@ -584,8 +585,15 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3 MatrixType tmp; tmp = scaledMat; tmp.diagonal().array () -= eivals(2); - eivecs.col(2) = tmp.row(0).cross(tmp.row(1)).normalized(); - + VectorType cross01 = tmp.row(0).cross(tmp.row(1)); + VectorType cross02 = tmp.row(0).cross(tmp.row(2)); + Scalar n01 = cross01.squaredNorm(); + Scalar n02 = cross02.squaredNorm(); + if(n01>n02) + eivecs.col(2) = cross01 / sqrt(n01); + else + eivecs.col(2) = cross02 / sqrt(n02); + tmp = scaledMat; tmp.diagonal().array() -= eivals(1); eivecs.col(1) = tmp.row(0).cross(tmp.row(1)); @@ -600,7 +608,6 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3 eivecs.col(0) = eivecs.col(2).cross(eivecs.col(1)); } } - // Rescale back to the original size. eivals *= scale; |