1 files changed, 17 insertions, 10 deletions
diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h
index c4a3cbf51..6ee8574c2 100644
--- a/Eigen/src/Geometry/Quaternion.h
+++ b/Eigen/src/Geometry/Quaternion.h
@@ -505,9 +505,11 @@ EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const Quaternion
 template<class Derived>
 EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const AngleAxisType& aa)
 {
+  using std::cos;
+  using std::sin;
   Scalar ha = Scalar(0.5)*aa.angle(); // Scalar(0.5) to suppress precision loss warnings
-  this->w() = internal::cos(ha);
-  this->vec() = internal::sin(ha) * aa.axis();
+  this->w() = cos(ha);
+  this->vec() = sin(ha) * aa.axis();
   return derived();
 }
 
@@ -581,6 +583,7 @@ template<typename Derived1, typename Derived2>
 inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
 {
   using std::max;
+  using std::sqrt;
   Vector3 v0 = a.normalized();
   Vector3 v1 = b.normalized();
   Scalar c = v1.dot(v0);
@@ -601,12 +604,12 @@ inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Deri
     Vector3 axis = svd.matrixV().col(2);
 
     Scalar w2 = (Scalar(1)+c)*Scalar(0.5);
-    this->w() = internal::sqrt(w2);
-    this->vec() = axis * internal::sqrt(Scalar(1) - w2);
+    this->w() = sqrt(w2);
+    this->vec() = axis * sqrt(Scalar(1) - w2);
     return derived();
   }
   Vector3 axis = v0.cross(v1);
-  Scalar s = internal::sqrt((Scalar(1)+c)*Scalar(2));
+  Scalar s = sqrt((Scalar(1)+c)*Scalar(2));
   Scalar invs = Scalar(1)/s;
   this->vec() = axis * invs;
   this->w() = s * Scalar(0.5);
@@ -677,7 +680,8 @@ inline typename internal::traits<Derived>::Scalar
 QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& other) const
 {
   using std::acos;
-  double d = internal::abs(this->dot(other));
+  using std::abs;
+  double d = abs(this->dot(other));
   if (d>=1.0)
     return Scalar(0);
   return static_cast<Scalar>(2 * acos(d));
@@ -692,9 +696,11 @@ Quaternion<typename internal::traits<Derived>::Scalar>
 QuaternionBase<Derived>::slerp(Scalar t, const QuaternionBase<OtherDerived>& other) const
 {
   using std::acos;
+  using std::sin;
+  using std::abs;
   static const Scalar one = Scalar(1) - NumTraits<Scalar>::epsilon();
   Scalar d = this->dot(other);
-  Scalar absD = internal::abs(d);
+  Scalar absD = abs(d);
 
   Scalar scale0;
   Scalar scale1;
@@ -708,10 +714,10 @@ QuaternionBase<Derived>::slerp(Scalar t, const QuaternionBase<OtherDerived>& oth
   {
     // theta is the angle between the 2 quaternions
     Scalar theta = acos(absD);
-    Scalar sinTheta = internal::sin(theta);
+    Scalar sinTheta = sin(theta);
 
-    scale0 = internal::sin( ( Scalar(1) - t ) * theta) / sinTheta;
-    scale1 = internal::sin( ( t * theta) ) / sinTheta;
+    scale0 = sin( ( Scalar(1) - t ) * theta) / sinTheta;
+    scale1 = sin( ( t * theta) ) / sinTheta;
   }
   if(d<0) scale1 = -scale1;
 
@@ -728,6 +734,7 @@ struct quaternionbase_assign_impl<Other,3,3>
   typedef DenseIndex Index;
   template<class Derived> static inline void run(QuaternionBase<Derived>& q, const Other& mat)
   {
+    using std::sqrt;
     // This algorithm comes from  "Quaternion Calculus and Fast Animation",
     // Ken Shoemake, 1987 SIGGRAPH course notes
     Scalar t = mat.trace();