diff options
Diffstat (limited to 'Eigen/src')
| -rw-r--r-- | Eigen/src/Geometry/Quaternion.h | 2 | ||||
| -rw-r--r-- | Eigen/src/Geometry/Transform.h | 9 |
2 files changed, 8 insertions, 3 deletions
diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h index 285a93c15..98b91e2de 100644 --- a/Eigen/src/Geometry/Quaternion.h +++ b/Eigen/src/Geometry/Quaternion.h @@ -573,7 +573,7 @@ QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& oth double d = ei_abs(this->dot(other)); if (d>=1.0) return Scalar(0); - return Scalar(2) * std::acos(d); + return static_cast<Scalar>(2 * std::acos(d)); } /** \returns the spherical linear interpolation between the two quaternions diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h index b945ea43f..309c1e1fd 100644 --- a/Eigen/src/Geometry/Transform.h +++ b/Eigen/src/Geometry/Transform.h @@ -345,9 +345,14 @@ public: /** \sa MatrixBase::setIdentity() */ void setIdentity() { m_matrix.setIdentity(); } - static const typename MatrixType::IdentityReturnType Identity() + + /** + * \brief Returns an identity transformation. + * \todo In the future this function should be returning a Transform expression. + */ + static const Transform Identity() { - return MatrixType::Identity(); + return Transform(MatrixType::Identity()); } template<typename OtherDerived> |