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bugfix in matrix to Euler-angles function

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This commit is contained in:
Gael Guennebaud
2008-12-06 11:04:33 +00:00
parent faf942a947
commit 9c0deb55ca
2 changed files with 6 additions and 5 deletions
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7
Eigen/src/Geometry/EulerAngles.h
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@@ -48,6 +48,7 @@ template<typename Derived>
inline Matrix<typename MatrixBase<Derived>::Scalar,3,1>
MatrixBase<Derived>::eulerAngles(int a0, int a1, int a2) const
{
/* Implemented from Graphics Gems IV */
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived,3,3)
Matrix<Scalar,3,1> res;
@@ -62,7 +63,6 @@ MatrixBase<Derived>::eulerAngles(int a0, int a1, int a2) const
if (a0==a2)
{
Scalar s = Vector2(coeff(j,i) , coeff(k,i)).norm();
res[1] = std::atan2(s, coeff(i,i));
if (s > epsilon)
{
@@ -72,13 +72,12 @@ MatrixBase<Derived>::eulerAngles(int a0, int a1, int a2) const
else
{
res[0] = Scalar(0);
res[2] = std::atan2(-coeff(k,j), coeff(j,j));
res[2] = (coeff(i,i)>0?1:-1)*std::atan2(-coeff(k,j), coeff(j,j));
}
}
else
{
Scalar c = Vector2(coeff(i,i) , coeff(i,j)).norm();
res[1] = std::atan2(-coeff(i,k), c);
if (c > epsilon)
{
@@ -88,7 +87,7 @@ MatrixBase<Derived>::eulerAngles(int a0, int a1, int a2) const
else
{
res[0] = Scalar(0);
res[2] = -std::atan2(-coeff(k,j), coeff(j,j));
res[2] = (coeff(i,k)>0?1:-1)*std::atan2(-coeff(k,j), coeff(j,j));
}
}
if (!odd)