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Diffstat (limited to 'doc/TutorialGeometry.dox')
| -rw-r--r-- | doc/TutorialGeometry.dox | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/doc/TutorialGeometry.dox b/doc/TutorialGeometry.dox index 2e1420f98..1d214f355 100644 --- a/doc/TutorialGeometry.dox +++ b/doc/TutorialGeometry.dox @@ -111,7 +111,7 @@ rot3 = rot1.slerp(alpha,rot2);\endcode</td></tr> <a href="#" class="top">top</a>\section TutorialGeoTransform Affine transformations -Generic affine transformations are represented by the Transform class which internaly +Generic affine transformations are represented by the Transform class which internally is a (Dim+1)^2 matrix. In Eigen we have chosen to not distinghish between points and vectors such that all points are actually represented by displacement vectors from the origin ( \f$ \mathbf{p} \equiv \mathbf{p}-0 \f$ ). With that in mind, real points and @@ -232,8 +232,8 @@ On the other hand, since there exist 24 different conventions, they are pretty c to create a rotation matrix according to the 2-1-2 convention.</td><td>\code Matrix3f m; m = AngleAxisf(angle1, Vector3f::UnitZ()) - * AngleAxisf(angle2, Vector3f::UnitY()) - * AngleAxisf(angle3, Vector3f::UnitZ()); + * * AngleAxisf(angle2, Vector3f::UnitY()) + * * AngleAxisf(angle3, Vector3f::UnitZ()); \endcode</td></tr> </table> |