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Diffstat (limited to 'Eigen/src/Geometry/AngleAxis.h')
| -rw-r--r-- | Eigen/src/Geometry/AngleAxis.h | 9 |
1 files changed, 6 insertions, 3 deletions
diff --git a/Eigen/src/Geometry/AngleAxis.h b/Eigen/src/Geometry/AngleAxis.h index eee2cd0e1..553d38c74 100644 --- a/Eigen/src/Geometry/AngleAxis.h +++ b/Eigen/src/Geometry/AngleAxis.h @@ -161,6 +161,7 @@ AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived using std::acos; using std::min; using std::max; + using std::sqrt; Scalar n2 = q.vec().squaredNorm(); if (n2 < NumTraits<Scalar>::dummy_precision()*NumTraits<Scalar>::dummy_precision()) { @@ -170,7 +171,7 @@ AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived else { m_angle = Scalar(2)*acos((min)((max)(Scalar(-1),q.w()),Scalar(1))); - m_axis = q.vec() / internal::sqrt(n2); + m_axis = q.vec() / sqrt(n2); } return *this; } @@ -202,9 +203,11 @@ template<typename Scalar> typename AngleAxis<Scalar>::Matrix3 AngleAxis<Scalar>::toRotationMatrix(void) const { + using std::sin; + using std::cos; Matrix3 res; - Vector3 sin_axis = internal::sin(m_angle) * m_axis; - Scalar c = internal::cos(m_angle); + Vector3 sin_axis = sin(m_angle) * m_axis; + Scalar c = cos(m_angle); Vector3 cos1_axis = (Scalar(1)-c) * m_axis; Scalar tmp; |