diff options
Diffstat (limited to 'Eigen/src/Geometry/AngleAxis.h')
| -rw-r--r-- | Eigen/src/Geometry/AngleAxis.h | 13 |
1 files changed, 8 insertions, 5 deletions
diff --git a/Eigen/src/Geometry/AngleAxis.h b/Eigen/src/Geometry/AngleAxis.h index 67197ac78..553d38c74 100644 --- a/Eigen/src/Geometry/AngleAxis.h +++ b/Eigen/src/Geometry/AngleAxis.h @@ -76,7 +76,7 @@ public: * \warning If the \a axis vector is not normalized, then the angle-axis object * represents an invalid rotation. */ template<typename Derived> - inline AngleAxis(Scalar angle, const MatrixBase<Derived>& axis) : m_axis(axis), m_angle(angle) {} + inline AngleAxis(const Scalar& angle, const MatrixBase<Derived>& axis) : m_axis(axis), m_angle(angle) {} /** Constructs and initialize the angle-axis rotation from a quaternion \a q. */ template<typename QuatDerived> inline explicit AngleAxis(const QuaternionBase<QuatDerived>& q) { *this = q; } /** Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix. */ @@ -137,7 +137,7 @@ public: * determined by \a prec. * * \sa MatrixBase::isApprox() */ - bool isApprox(const AngleAxis& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const + bool isApprox(const AngleAxis& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const { return m_axis.isApprox(other.m_axis, prec) && internal::isApprox(m_angle,other.m_angle, prec); } }; @@ -161,6 +161,7 @@ AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived using std::acos; using std::min; using std::max; + using std::sqrt; Scalar n2 = q.vec().squaredNorm(); if (n2 < NumTraits<Scalar>::dummy_precision()*NumTraits<Scalar>::dummy_precision()) { @@ -170,7 +171,7 @@ AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived else { m_angle = Scalar(2)*acos((min)((max)(Scalar(-1),q.w()),Scalar(1))); - m_axis = q.vec() / internal::sqrt(n2); + m_axis = q.vec() / sqrt(n2); } return *this; } @@ -202,9 +203,11 @@ template<typename Scalar> typename AngleAxis<Scalar>::Matrix3 AngleAxis<Scalar>::toRotationMatrix(void) const { + using std::sin; + using std::cos; Matrix3 res; - Vector3 sin_axis = internal::sin(m_angle) * m_axis; - Scalar c = internal::cos(m_angle); + Vector3 sin_axis = sin(m_angle) * m_axis; + Scalar c = cos(m_angle); Vector3 cos1_axis = (Scalar(1)-c) * m_axis; Scalar tmp; |