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Update SVD Module to allow specifying computation options with a template parameter. Resolves #2051

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Arthur
2021-11-29 20:50:46 +00:00
committed by Rasmus Munk Larsen
parent 4a76880351
commit eef33946b7
23 changed files with 766 additions and 636 deletions
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Eigen/src/Geometry/Quaternion.h
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@@ -651,7 +651,7 @@ EIGEN_DEVICE_FUNC inline Derived& QuaternionBase<Derived>::setFromTwoVectors(con
{
c = numext::maxi(c,Scalar(-1));
Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
JacobiSVD<Matrix<Scalar,2,3>, ComputeFullV> svd(m);
Vector3 axis = svd.matrixV().col(2);
Scalar w2 = (Scalar(1)+c)*Scalar(0.5);