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remove ternary operator in euler angles

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Hongkai Dai
2016-09-19 10:30:30 -07:00
parent bf03820339
commit 5dcc6d301a
2 changed files with 24 additions and 4 deletions
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14
unsupported/Eigen/src/EulerAngles/EulerSystem.h
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@@ -189,7 +189,12 @@ namespace Eigen
res[0] = atan2(mat(J,K), mat(K,K));
Scalar c2 = Vector2(mat(I,I), mat(I,J)).norm();
if((IsOdd && res[0]<Scalar(0)) || ((!IsOdd) && res[0]>Scalar(0))) {
res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(EIGEN_PI) : res[0] + Scalar(EIGEN_PI);
if(res[0] > Scalar(0)) {
res[0] -= Scalar(EIGEN_PI);
}
else {
res[0] += Scalar(EIGEN_PI);
}
res[1] = atan2(-mat(I,K), -c2);
}
else
@@ -212,7 +217,12 @@ namespace Eigen
res[0] = atan2(mat(J,I), mat(K,I));
if((IsOdd && res[0]<Scalar(0)) || ((!IsOdd) && res[0]>Scalar(0)))
{
res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(EIGEN_PI) : res[0] + Scalar(EIGEN_PI);
if(res[0] > Scalar(0)) {
res[0] -= Scalar(EIGEN_PI);
}
else {
res[0] += Scalar(EIGEN_PI);
}
Scalar s2 = Vector2(mat(J,I), mat(K,I)).norm();
res[1] = -atan2(s2, mat(I,I));
}