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resurrected sparse triangular solver

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This commit is contained in:
Gael Guennebaud
2008-09-02 19:55:26 +00:00
parent 8fb1678f0f
commit d8df318d77
10 changed files with 117 additions and 86 deletions
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2
Eigen/src/Geometry/Quaternion.h
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@@ -375,7 +375,7 @@ Quaternion<Scalar> Quaternion<Scalar>::slerp(Scalar t, const Quaternion& other)
Scalar theta = std::acos(ei_abs(d));
Scalar sinTheta = ei_sin(theta);
Scalar scale0 = ei_sin( ( 1 - t ) * theta) / sinTheta;
Scalar scale0 = ei_sin( ( Scalar(1) - t ) * theta) / sinTheta;
Scalar scale1 = ei_sin( ( t * theta) ) / sinTheta;
if (d<0)
scale1 = -scale1;