Backed out changeset 04c8c5d9ef

Eigen/src/Geometry/OrthoMethods.h

@@ -18,9 +18,6 @@ namespace Eigen {
   * \returns the cross product of \c *this and \a other
   *
   * Here is a very good explanation of cross-product: http://xkcd.com/199/
-  * 
-  * With complex numbers, the cross product is implemented as \f$ \mathbf{a}+\mathrm{i}\mathbf{b}) \times \f$
-  * 
   * \sa MatrixBase::cross3()
   */
 template<typename Derived>

Eigen/src/Geometry/Quaternion.h

@@ -637,7 +637,7 @@ inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Der
 {
   // FIXME should this function be called multiplicativeInverse and conjugate() be called inverse() or opposite()  ??
   Scalar n2 = this->squaredNorm();
-  if (n2 > Scalar(0))
+  if (n2 > 0)
     return Quaternion<Scalar>(conjugate().coeffs() / n2);
   else
   {
@@ -723,7 +723,7 @@ QuaternionBase<Derived>::slerp(const Scalar& t, const QuaternionBase<OtherDerive
     scale0 = sin( ( Scalar(1) - t ) * theta) / sinTheta;
     scale1 = sin( ( t * theta) ) / sinTheta;
   }
-  if(d<Scalar(0)) scale1 = -scale1;
+  if(d<0) scale1 = -scale1;
 
   return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
 }