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Simplify the use of custom scalar types, the rule is to never directly call a standard math function using std:: but rather put a using std::foo before and simply call foo:

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using std::max;
max(a,b);
This commit is contained in:
Gael Guennebaud
2011-05-25 08:41:45 +02:00
parent 5541bcb769
commit 87ac09daa8
10 changed files with 73 additions and 40 deletions
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5
Eigen/src/Geometry/AngleAxis.h
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@@ -171,6 +171,9 @@ template<typename Scalar>
template<typename QuatDerived>
AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived>& q)
{
using std::acos;
using std::min;
using std::max;
Scalar n2 = q.vec().squaredNorm();
if (n2 < NumTraits<Scalar>::dummy_precision()*NumTraits<Scalar>::dummy_precision())
{
@@ -179,7 +182,7 @@ AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived
}
else
{
m_angle = Scalar(2)*std::acos(std::min(std::max(Scalar(-1),q.w()),Scalar(1)));
m_angle = Scalar(2)*acos(min(max(Scalar(-1),q.w()),Scalar(1)));
m_axis = q.vec() / internal::sqrt(n2);
}
return *this;

9
Eigen/src/Geometry/Quaternion.h
View File

@@ -575,6 +575,7 @@ template<class Derived>
template<typename Derived1, typename Derived2>
inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
{
using std::max;
Vector3 v0 = a.normalized();
Vector3 v1 = b.normalized();
Scalar c = v1.dot(v0);
@@ -589,7 +590,7 @@ inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Deri
// which yields a singular value problem
if (c < Scalar(-1)+NumTraits<Scalar>::dummy_precision())
{
c = std::max<Scalar>(c,-1);
c = max<Scalar>(c,-1);
Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
Vector3 axis = svd.matrixV().col(2);
@@ -649,10 +650,11 @@ template <class OtherDerived>
inline typename internal::traits<Derived>::Scalar
QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& other) const
{
using std::acos;
double d = internal::abs(this->dot(other));
if (d>=1.0)
return Scalar(0);
return static_cast<Scalar>(2 * std::acos(d));
return static_cast<Scalar>(2 * acos(d));
}
/** \returns the spherical linear interpolation between the two quaternions
@@ -663,6 +665,7 @@ template <class OtherDerived>
Quaternion<typename internal::traits<Derived>::Scalar>
QuaternionBase<Derived>::slerp(Scalar t, const QuaternionBase<OtherDerived>& other) const
{
using std::acos;
static const Scalar one = Scalar(1) - NumTraits<Scalar>::epsilon();
Scalar d = this->dot(other);
Scalar absD = internal::abs(d);
@@ -678,7 +681,7 @@ QuaternionBase<Derived>::slerp(Scalar t, const QuaternionBase<OtherDerived>& oth
else
{
// theta is the angle between the 2 quaternions
Scalar theta = std::acos(absD);
Scalar theta = acos(absD);
Scalar sinTheta = internal::sin(theta);
scale0 = internal::sin( ( Scalar(1) - t ) * theta) / sinTheta;