diff options
Diffstat (limited to 'Eigen/src/Geometry/AngleAxis.h')
| -rw-r--r-- | Eigen/src/Geometry/AngleAxis.h | 11 |
1 files changed, 8 insertions, 3 deletions
diff --git a/Eigen/src/Geometry/AngleAxis.h b/Eigen/src/Geometry/AngleAxis.h index 7fdb8ae83..571062d00 100644 --- a/Eigen/src/Geometry/AngleAxis.h +++ b/Eigen/src/Geometry/AngleAxis.h @@ -158,7 +158,8 @@ typedef AngleAxis<float> AngleAxisf; typedef AngleAxis<double> AngleAxisd; /** Set \c *this from a \b unit quaternion. - * The resulting axis is normalized. + * + * The resulting axis is normalized, and the computed angle is in the [0,pi] range. * * This function implicitly normalizes the quaternion \a q. */ @@ -167,12 +168,16 @@ template<typename QuatDerived> AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived>& q) { using std::atan2; + using std::abs; Scalar n = q.vec().norm(); if(n<NumTraits<Scalar>::epsilon()) n = q.vec().stableNorm(); - if (n > Scalar(0)) + + if (n != Scalar(0)) { - m_angle = Scalar(2)*atan2(n, q.w()); + m_angle = Scalar(2)*atan2(n, abs(q.w())); + if(q.w() < 0) + n = -n; m_axis = q.vec() / n; } else |