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Diffstat (limited to 'Eigen/src/Geometry/AngleAxis.h')
| -rw-r--r-- | Eigen/src/Geometry/AngleAxis.h | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/Eigen/src/Geometry/AngleAxis.h b/Eigen/src/Geometry/AngleAxis.h index 0af3c1b08..78328b6b5 100644 --- a/Eigen/src/Geometry/AngleAxis.h +++ b/Eigen/src/Geometry/AngleAxis.h @@ -169,8 +169,8 @@ template<typename Scalar> template<typename QuatDerived> EIGEN_DEVICE_FUNC AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived>& q) { - EIGEN_USING_STD_MATH(atan2) - EIGEN_USING_STD_MATH(abs) + EIGEN_USING_STD(atan2) + EIGEN_USING_STD(abs) Scalar n = q.vec().norm(); if(n<NumTraits<Scalar>::epsilon()) n = q.vec().stableNorm(); @@ -178,7 +178,7 @@ EIGEN_DEVICE_FUNC AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const Quaterni if (n != Scalar(0)) { m_angle = Scalar(2)*atan2(n, abs(q.w())); - if(q.w() < 0) + if(q.w() < Scalar(0)) n = -n; m_axis = q.vec() / n; } @@ -217,8 +217,8 @@ template<typename Scalar> typename AngleAxis<Scalar>::Matrix3 EIGEN_DEVICE_FUNC AngleAxis<Scalar>::toRotationMatrix(void) const { - EIGEN_USING_STD_MATH(sin) - EIGEN_USING_STD_MATH(cos) + EIGEN_USING_STD(sin) + EIGEN_USING_STD(cos) Matrix3 res; Vector3 sin_axis = sin(m_angle) * m_axis; Scalar c = cos(m_angle); |