diff options
Diffstat (limited to 'Eigen/src/Geometry/Quaternion.h')
| -rw-r--r-- | Eigen/src/Geometry/Quaternion.h | 58 |
1 files changed, 30 insertions, 28 deletions
diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h index 660e10d1e..861eff19c 100644 --- a/Eigen/src/Geometry/Quaternion.h +++ b/Eigen/src/Geometry/Quaternion.h @@ -152,9 +152,9 @@ public: /** \returns the conjugated quaternion */ Quaternion<Scalar> conjugate() const; - /** \returns an interpolation for a constant motion between \a other and \c *this + /** \returns an interpolation for a constant motion between \a other and \c *this * \a t in [0;1] - * see http://en.wikipedia.org/wiki/Slerp + * see http://en.wikipedia.org/wiki/Slerp */ template<class OtherDerived> Quaternion<Scalar> slerp(Scalar t, const QuaternionBase<OtherDerived>& other) const; @@ -163,7 +163,7 @@ public: * * \sa MatrixBase::isApprox() */ template<class OtherDerived> - bool isApprox(const QuaternionBase<OtherDerived>& other, RealScalar prec = precision<Scalar>()) const + bool isApprox(const QuaternionBase<OtherDerived>& other, RealScalar prec = dummy_precision<Scalar>()) const { return coeffs().isApprox(other.coeffs(), prec); } /** return the result vector of \a v through the rotation*/ @@ -221,7 +221,7 @@ struct ei_traits<Quaternion<_Scalar> > template<typename _Scalar> class Quaternion : public QuaternionBase<Quaternion<_Scalar> >{ typedef QuaternionBase<Quaternion<_Scalar> > Base; -public: +public: typedef _Scalar Scalar; EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Quaternion<Scalar>) @@ -304,27 +304,20 @@ template<typename _Scalar, int PacketAccess> class Map<Quaternion<_Scalar>, PacketAccess > : public QuaternionBase<Map<Quaternion<_Scalar>, PacketAccess> > { - public: - typedef _Scalar Scalar; - typedef Map<Quaternion<Scalar>, PacketAccess > MapQuat; - - private: - Map<Quaternion<Scalar>, PacketAccess >(); - Map<Quaternion<Scalar>, PacketAccess >(const Map<Quaternion<Scalar>, PacketAccess>&); - typedef QuaternionBase<Map<Quaternion<_Scalar>, PacketAccess> > Base; + public: - EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(MapQuat) + typedef _Scalar Scalar; + typedef typename ei_traits<Map>::Coefficients Coefficients; + EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Map) using Base::operator*=; - typedef typename ei_traits<Map<Quaternion<Scalar>, PacketAccess> >::Coefficients Coefficients; - /** Constructs a Mapped Quaternion object from the pointer \a coeffs * * The pointer \a coeffs must reference the four coeffecients of Quaternion in the following order: * \code *coeffs == {x, y, z, w} \endcode * - * If the template paramter PacketAccess is set to Aligned, then the pointer coeffs must be aligned. */ + * If the template parameter PacketAccess is set to Aligned, then the pointer coeffs must be aligned. */ EIGEN_STRONG_INLINE Map(const Scalar* coeffs) : m_coeffs(coeffs) {} inline Coefficients& coeffs() { return m_coeffs;} @@ -374,7 +367,7 @@ QuaternionBase<Derived>::operator* (const QuaternionBase<OtherDerived>& other) c { EIGEN_STATIC_ASSERT((ei_is_same_type<typename Derived::Scalar, typename OtherDerived::Scalar>::ret), YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY) - return ei_quat_product<EiArch, Derived, OtherDerived, + return ei_quat_product<Architecture::Target, Derived, OtherDerived, typename ei_traits<Derived>::Scalar, ei_traits<Derived>::PacketAccess && ei_traits<OtherDerived>::PacketAccess>::run(*this, other); } @@ -514,7 +507,7 @@ inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Deri // under the constraint: // ||x|| = 1 // which yields a singular value problem - if (c < Scalar(-1)+precision<Scalar>()) + if (c < Scalar(-1)+dummy_precision<Scalar>()) { c = std::max<Scalar>(c,-1); Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose(); @@ -590,20 +583,29 @@ template <class OtherDerived> Quaternion<typename ei_traits<Derived>::Scalar> QuaternionBase<Derived>::slerp(Scalar t, const QuaternionBase<OtherDerived>& other) const { - static const Scalar one = Scalar(1) - precision<Scalar>(); + static const Scalar one = Scalar(1) - epsilon<Scalar>(); Scalar d = this->dot(other); Scalar absD = ei_abs(d); - if (absD>=one) - return Quaternion<Scalar>(derived()); - // theta is the angle between the 2 quaternions - Scalar theta = std::acos(absD); - Scalar sinTheta = ei_sin(theta); + Scalar scale0; + Scalar scale1; - Scalar scale0 = ei_sin( ( Scalar(1) - t ) * theta) / sinTheta; - Scalar scale1 = ei_sin( ( t * theta) ) / sinTheta; - if (d<0) - scale1 = -scale1; + if (absD>=one) + { + scale0 = Scalar(1) - t; + scale1 = t; + } + else + { + // theta is the angle between the 2 quaternions + Scalar theta = std::acos(absD); + Scalar sinTheta = ei_sin(theta); + + scale0 = ei_sin( ( Scalar(1) - t ) * theta) / sinTheta; + scale1 = ei_sin( ( t * theta) ) / sinTheta; + if (d<0) + scale1 = -scale1; + } return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs()); } |