diff options
Diffstat (limited to 'Eigen/src/Geometry/Quaternion.h')
| -rw-r--r-- | Eigen/src/Geometry/Quaternion.h | 10 |
1 files changed, 4 insertions, 6 deletions
diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h index f6ef1bcf6..3e5a9badb 100644 --- a/Eigen/src/Geometry/Quaternion.h +++ b/Eigen/src/Geometry/Quaternion.h @@ -423,7 +423,7 @@ typedef Map<Quaternion<double>, Aligned> QuaternionMapAlignedd; // Generic Quaternion * Quaternion product // This product can be specialized for a given architecture via the Arch template argument. namespace internal { -template<int Arch, class Derived1, class Derived2, typename Scalar, int _Options> struct quat_product +template<int Arch, class Derived1, class Derived2, typename Scalar> struct quat_product { EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived1>& a, const QuaternionBase<Derived2>& b){ return Quaternion<Scalar> @@ -446,8 +446,7 @@ QuaternionBase<Derived>::operator* (const QuaternionBase<OtherDerived>& other) c EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename OtherDerived::Scalar>::value), YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY) return internal::quat_product<Architecture::Target, Derived, OtherDerived, - typename internal::traits<Derived>::Scalar, - EIGEN_PLAIN_ENUM_MIN(internal::traits<Derived>::Alignment, internal::traits<OtherDerived>::Alignment)>::run(*this, other); + typename internal::traits<Derived>::Scalar>::run(*this, other); } /** \sa operator*(Quaternion) */ @@ -672,7 +671,7 @@ EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar> // Generic conjugate of a Quaternion namespace internal { -template<int Arch, class Derived, typename Scalar, int _Options> struct quat_conj +template<int Arch, class Derived, typename Scalar> struct quat_conj { EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived>& q){ return Quaternion<Scalar>(q.w(),-q.x(),-q.y(),-q.z()); @@ -691,8 +690,7 @@ EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Derived>::conjugate() const { return internal::quat_conj<Architecture::Target, Derived, - typename internal::traits<Derived>::Scalar, - internal::traits<Derived>::Alignment>::run(*this); + typename internal::traits<Derived>::Scalar>::run(*this); } |