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-- /tmp/tmplrsu9G-meld/Eigen/src/Geometry/Quaternion.h |
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++ /home/strasdat/src/ScaViSLAM/EXTERNAL/eigen3.1/Eigen/src/Geometry/Quaternion.h |
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Lines 545-552
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return derived(); |
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return derived(); |
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} |
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} |
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/** Convert the quaternion to a 3x3 rotation matrix. The quaternion is required to |
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/** Convert the quaternion to a 3x3 rotation matrix. |
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* be normalized, otherwise the result is undefined. |
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* The quaternion is not required to be normalized. |
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*/ |
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*/ |
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template<class Derived> |
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template<class Derived> |
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inline typename QuaternionBase<Derived>::Matrix3 |
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inline typename QuaternionBase<Derived>::Matrix3 |
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Lines 558-566
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// it has to be inlined, and so the return by value is not an issue |
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// it has to be inlined, and so the return by value is not an issue |
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Matrix3 res; |
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Matrix3 res; |
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const Scalar tx = Scalar(2)*this->x(); |
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Scalar n2 = this->squaredNorm(); |
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const Scalar ty = Scalar(2)*this->y(); |
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if (n2 == 0) |
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const Scalar tz = Scalar(2)*this->z(); |
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{ |
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res.setIdentity(); |
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return res; |
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} |
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const Scalar two_by_squarednorm = 2./n2; |
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const Scalar tx = two_by_squarednorm*this->x(); |
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const Scalar ty = two_by_squarednorm*this->y(); |
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const Scalar tz = two_by_squarednorm*this->z(); |
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const Scalar twx = tx*this->w(); |
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const Scalar twx = tx*this->w(); |
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const Scalar twy = ty*this->w(); |
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const Scalar twy = ty*this->w(); |
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const Scalar twz = tz*this->w(); |
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const Scalar twz = tz*this->w(); |