From 3d385ae9680fdd5093401ace8a5588444434d194 Mon Sep 17 00:00:00 2001 From: Gael Guennebaud Date: Wed, 18 Mar 2009 19:38:55 +0000 Subject: angle-axis doc: make it more clear the axis must be normalized --- Eigen/src/Geometry/AngleAxis.h | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) (limited to 'Eigen/src/Geometry') diff --git a/Eigen/src/Geometry/AngleAxis.h b/Eigen/src/Geometry/AngleAxis.h index 7015daae9..36e84e399 100644 --- a/Eigen/src/Geometry/AngleAxis.h +++ b/Eigen/src/Geometry/AngleAxis.h @@ -33,6 +33,8 @@ * * \param _Scalar the scalar type, i.e., the type of the coefficients. * + * \warning When setting up an AngleAxis object, the axis vector \b must \b be \b normalized. + * * The following two typedefs are provided for convenience: * \li \c AngleAxisf for \c float * \li \c AngleAxisd for \c double @@ -82,7 +84,10 @@ public: /** Default constructor without initialization. */ AngleAxis() {} /** Constructs and initialize the angle-axis rotation from an \a angle in radian - * and an \a axis which must be normalized. */ + * and an \a axis which \b must \b be \b normalized. + * + * \warning If the \a axis vector is not normalized, then the angle-axis object + * represents an invalid rotation. */ template inline AngleAxis(Scalar angle, const MatrixBase& axis) : m_axis(axis), m_angle(angle) {} /** Constructs and initialize the angle-axis rotation from a quaternion \a q. */ -- cgit v1.2.3