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[Toon-members] TooN se3.h
From: |
Edward Rosten |
Subject: |
[Toon-members] TooN se3.h |
Date: |
Thu, 08 Apr 2010 16:12:30 +0000 |
CVSROOT: /cvsroot/toon
Module name: TooN
Changes by: Edward Rosten <edrosten> 10/04/08 16:12:30
Modified files:
. : se3.h
Log message:
Fix to generic programming in SE3 by Hauke Strasdat.
CVSWeb URLs:
http://cvs.savannah.gnu.org/viewcvs/TooN/se3.h?cvsroot=toon&r1=1.27&r2=1.28
Patches:
Index: se3.h
===================================================================
RCS file: /cvsroot/toon/TooN/se3.h,v
retrieving revision 1.27
retrieving revision 1.28
diff -u -b -r1.27 -r1.28
--- se3.h 1 Feb 2010 17:33:18 -0000 1.27
+++ se3.h 8 Apr 2010 16:12:30 -0000 1.28
@@ -394,7 +394,7 @@
const Vector<3,Precision> w = mu.template slice<3,3>();
const Precision theta_sq = w*w;
const Precision theta = sqrt(theta_sq);
- double A, B;
+ Precision A, B;
const Vector<3,Precision> cross = w ^ mu.template slice<0,3>();
if (theta_sq < 1e-8) {
@@ -402,13 +402,13 @@
B = 0.5;
result.get_translation() = mu.template slice<0,3>() + 0.5 *
cross;
} else {
- double C;
+ Precision C;
if (theta_sq < 1e-6) {
C = one_6th*(1.0 - one_20th * theta_sq);
A = 1.0 - theta_sq * C;
B = 0.5 - 0.25 * one_6th * theta_sq;
} else {
- const double inv_theta = 1.0/theta;
+ const Precision inv_theta = 1.0/theta;
A = sin(theta) * inv_theta;
B = (1 - cos(theta)) * (inv_theta * inv_theta);
C = (1 - A) * (inv_theta * inv_theta);
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