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merge with default branch

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This commit is contained in:
Gael Guennebaud
2013-11-05 10:31:59 +01:00
parent 7c9cdd6030 ddf7753631
commit 1bb1a57ef7
66 changed files with 1152 additions and 290 deletions
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4
Eigen/src/Geometry/AngleAxis.h
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@@ -159,8 +159,8 @@ template<typename QuatDerived>
AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived>& q)
{
using std::acos;
using std::min;
using std::max;
EIGEN_USING_STD_MATH(min);
EIGEN_USING_STD_MATH(max);
using std::sqrt;
Scalar n2 = q.vec().squaredNorm();
if (n2 < NumTraits<Scalar>::dummy_precision()*NumTraits<Scalar>::dummy_precision())

3
Eigen/src/Geometry/OrthoMethods.h
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@@ -132,6 +132,7 @@ struct unitOrthogonal_selector
typedef typename NumTraits<Scalar>::Real RealScalar;
typedef typename Derived::Index Index;
typedef Matrix<Scalar,2,1> Vector2;
EIGEN_DEVICE_FUNC
static inline VectorType run(const Derived& src)
{
VectorType perp = VectorType::Zero(src.size());
@@ -154,6 +155,7 @@ struct unitOrthogonal_selector<Derived,3>
typedef typename plain_matrix_type<Derived>::type VectorType;
typedef typename traits<Derived>::Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
EIGEN_DEVICE_FUNC
static inline VectorType run(const Derived& src)
{
VectorType perp;
@@ -192,6 +194,7 @@ template<typename Derived>
struct unitOrthogonal_selector<Derived,2>
{
typedef typename plain_matrix_type<Derived>::type VectorType;
EIGEN_DEVICE_FUNC
static inline VectorType run(const Derived& src)
{ return VectorType(-numext::conj(src.y()), numext::conj(src.x())).normalized(); }
};

2
Eigen/src/Geometry/Quaternion.h
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@@ -572,7 +572,7 @@ template<class Derived>
template<typename Derived1, typename Derived2>
inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
{
using std::max;
EIGEN_USING_STD_MATH(max);
using std::sqrt;
Vector3 v0 = a.normalized();
Vector3 v1 = b.normalized();