diff options
Diffstat (limited to 'Eigen/src/Geometry/Quaternion.h')
-rw-r--r-- | Eigen/src/Geometry/Quaternion.h | 20 |
1 files changed, 10 insertions, 10 deletions
diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h index 19835523f..3259e592d 100644 --- a/Eigen/src/Geometry/Quaternion.h +++ b/Eigen/src/Geometry/Quaternion.h @@ -560,8 +560,8 @@ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator template<class Derived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const AngleAxisType& aa) { - EIGEN_USING_STD_MATH(cos) - EIGEN_USING_STD_MATH(sin) + EIGEN_USING_STD(cos) + EIGEN_USING_STD(sin) Scalar ha = Scalar(0.5)*aa.angle(); // Scalar(0.5) to suppress precision loss warnings this->w() = cos(ha); this->vec() = sin(ha) * aa.axis(); @@ -637,7 +637,7 @@ template<class Derived> template<typename Derived1, typename Derived2> EIGEN_DEVICE_FUNC inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b) { - EIGEN_USING_STD_MATH(sqrt) + EIGEN_USING_STD(sqrt) Vector3 v0 = a.normalized(); Vector3 v1 = b.normalized(); Scalar c = v1.dot(v0); @@ -678,9 +678,9 @@ EIGEN_DEVICE_FUNC inline Derived& QuaternionBase<Derived>::setFromTwoVectors(con template<typename Scalar, int Options> EIGEN_DEVICE_FUNC Quaternion<Scalar,Options> Quaternion<Scalar,Options>::UnitRandom() { - EIGEN_USING_STD_MATH(sqrt) - EIGEN_USING_STD_MATH(sin) - EIGEN_USING_STD_MATH(cos) + EIGEN_USING_STD(sqrt) + EIGEN_USING_STD(sin) + EIGEN_USING_STD(cos) const Scalar u1 = internal::random<Scalar>(0, 1), u2 = internal::random<Scalar>(0, 2*EIGEN_PI), u3 = internal::random<Scalar>(0, 2*EIGEN_PI); @@ -763,7 +763,7 @@ template <class OtherDerived> EIGEN_DEVICE_FUNC inline typename internal::traits<Derived>::Scalar QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& other) const { - EIGEN_USING_STD_MATH(atan2) + EIGEN_USING_STD(atan2) Quaternion<Scalar> d = (*this) * other.conjugate(); return Scalar(2) * atan2( d.vec().norm(), numext::abs(d.w()) ); } @@ -781,8 +781,8 @@ template <class OtherDerived> EIGEN_DEVICE_FUNC Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Derived>::slerp(const Scalar& t, const QuaternionBase<OtherDerived>& other) const { - EIGEN_USING_STD_MATH(acos) - EIGEN_USING_STD_MATH(sin) + EIGEN_USING_STD(acos) + EIGEN_USING_STD(sin) const Scalar one = Scalar(1) - NumTraits<Scalar>::epsilon(); Scalar d = this->dot(other); Scalar absD = numext::abs(d); @@ -819,7 +819,7 @@ struct quaternionbase_assign_impl<Other,3,3> template<class Derived> EIGEN_DEVICE_FUNC static inline void run(QuaternionBase<Derived>& q, const Other& a_mat) { const typename internal::nested_eval<Other,2>::type mat(a_mat); - EIGEN_USING_STD_MATH(sqrt) + EIGEN_USING_STD(sqrt) // This algorithm comes from "Quaternion Calculus and Fast Animation", // Ken Shoemake, 1987 SIGGRAPH course notes Scalar t = mat.trace(); |