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-- /tmp/tmpWcb4Jb-meld/Eigen/src/Geometry/Quaternion.h |
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++ /home/strasdat/src/sim3_for_thesis/EXTERNAL/eigen3.1/Eigen/src/Geometry/Quaternion.h |
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Lines 182-187
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/** return the result vector of \a v through the rotation*/ |
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/** return the result vector of \a v through the rotation*/ |
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EIGEN_STRONG_INLINE Vector3 _transformVector(Vector3 v) const; |
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EIGEN_STRONG_INLINE Vector3 _transformVector(Vector3 v) const; |
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/** return the result vector of \a v through the rotation and scaling*/ |
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EIGEN_STRONG_INLINE Vector3 _rotateAndScaleVector(Vector3 v) const; |
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/** \returns \c *this with scalar type casted to \a NewScalarType |
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/** \returns \c *this with scalar type casted to \a NewScalarType |
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* |
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* |
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* Note that if \a NewScalarType is equal to the current scalar type of \c *this |
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* Note that if \a NewScalarType is equal to the current scalar type of \c *this |
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Lines 498-503
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Vector3 uv = this->vec().cross(v); |
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Vector3 uv = this->vec().cross(v); |
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uv += uv; |
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uv += uv; |
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return v + this->w() * uv + this->vec().cross(uv); |
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return v + this->w() * uv + this->vec().cross(uv); |
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} |
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/** Rotation and scaling of a vector by a quaternion. |
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*/ |
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template <class Derived> |
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EIGEN_STRONG_INLINE typename QuaternionBase<Derived>::Vector3 |
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QuaternionBase<Derived>::_rotateAndScaleVector(Vector3 v) const |
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{ |
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Scalar scale = this->norm(); |
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if (scale==0) |
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return Vector3::Zero(); |
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Vector3 imag_cross_v = this->vec().cross(v); |
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imag_cross_v += imag_cross_v; |
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return scale*v + (this->w() * imag_cross_v |
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+ this->vec().cross(imag_cross_v))/scale; |
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} |
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} |
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template<class Derived> |
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template<class Derived> |