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Diffstat (limited to 'Eigen/src/Geometry/AngleAxis.h')
| -rw-r--r-- | Eigen/src/Geometry/AngleAxis.h | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/Eigen/src/Geometry/AngleAxis.h b/Eigen/src/Geometry/AngleAxis.h index 2b0ee6196..c77264e1c 100644 --- a/Eigen/src/Geometry/AngleAxis.h +++ b/Eigen/src/Geometry/AngleAxis.h @@ -139,7 +139,7 @@ AngleAxis<Scalar>::toRotationMatrix(void) const res.coeffRef(1,2) = tmp - sin_axis.x(); res.coeffRef(2,1) = tmp + sin_axis.x(); - res.diagonal() = Vector3::constant(c) + cos1_axis.cwiseProduct(m_axis); + res.diagonal() = (cos1_axis.cwise() * m_axis).cwise() + c; return res; } |