diff options
Diffstat (limited to 'Eigen/src/Geometry/Quaternion.h')
| -rw-r--r-- | Eigen/src/Geometry/Quaternion.h | 9 |
1 files changed, 6 insertions, 3 deletions
diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h index e17e9ff4a..b2065fdcc 100644 --- a/Eigen/src/Geometry/Quaternion.h +++ b/Eigen/src/Geometry/Quaternion.h @@ -105,8 +105,11 @@ public: /** Constructs and initializes the quaternion \f$ w+xi+yj+zk \f$ from * its four coefficients \a w, \a x, \a y and \a z. + * + * \warning Note the order of the arguments: the real \a w coefficient first, + * while internally the coefficients are stored in the following order: + * [\c x, \c y, \c z, \c w] */ - // FIXME what is the prefered order: w x,y,z or x,y,z,w ? inline Quaternion(Scalar w, Scalar x, Scalar y, Scalar z) { m_coeffs << x, y, z, w; } @@ -313,8 +316,8 @@ inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBas } /** \returns the multiplicative inverse of \c *this - * Note that in most cases, i.e., if you simply want the opposite - * rotation, it is enough to use the conjugate. + * Note that in most cases, i.e., if you simply want the opposite rotation, + * and/or the quaternion is normalized, then it is enough to use the conjugate. * * \sa Quaternion::conjugate() */ |