| Re: [eigen-commits] commit/eigen: ggael: Let's be safe: enable auto normalization is quaternion to angle-axis code since a slight numerical issue may trigger NaN. The overhead is small and I doubt the perf of this function could be critival for any a |
[ Thread Index |
Date Index
| More lists.tuxfamily.org/eigen-commits Archives
]
- To: eigen-commits@xxxxxxxxxxxxxxxxxxx
- Subject: Re: [eigen-commits] commit/eigen: ggael: Let's be safe: enable auto normalization is quaternion to angle-axis code since a slight numerical issue may trigger NaN. The overhead is small and I doubt the perf of this function could be critival for any a
- From: Benoit Jacob <jacob.benoit.1@xxxxxxxxx>
- Date: Sun, 31 Oct 2010 16:04:09 -0700
- Dkim-signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gmail.com; s=gamma; h=domainkey-signature:mime-version:received:received:date:message-id :subject:from:to:content-type:content-transfer-encoding; bh=Dp5b720/BDq4Bta/R4iYSnnpF0LyN3TuRk+MMeNoo0w=; b=il9GDiqbxH+NrzeUBrhzYetRidhyzN5ZolYm4JtdfdKJm5GUVER33qS+0Ah7z/204c MWIBRK+D1/+5ah3UqAq8uL+AM3kxB1dzN0ZNRivGLi9hNn9+RQnU/L3z8LnQ/yFEnJ4h /vszKCzvMEX35ZgHOKgcb54q2HZ0HydqmKxkU=
- Domainkey-signature: a=rsa-sha1; c=nofws; d=gmail.com; s=gamma; h=mime-version:date:message-id:subject:from:to:content-type :content-transfer-encoding; b=j7E5Ixb3lU/Gz1ZqAPOXU6gvbj3L2obc25oDHSmipA+9d/G/Ta3cbK16XuR2EKa/yx CQ7LiwcG+eNJcs/7LSoND5SdHMW0wi8H48hgpPjik2ZNynxyDVBJMM5K0dJAOknFIGMu K6PgewiQeGNj6jAksTUMXP7MXmsSkKUb1AfQ4=
Hm...
- m_angle = 2*std::acos(q.w());
+ m_angle = Scalar(2)*std::acos(q.w()/*/internal::sqrt(n2+q.w()*q.w())*/);
Tu as mis des commentaires /*...*/ donc ca change rien!
Je ne suis pas tres chaud pour auto normaliser dans 1 function alors
qu'on ne le fait pas ailleurs! Mais je n'ai pas acces a hg ici donc je
n'ai pas pu regarder de pres le code.
Benoit
2010/10/31 <commits-noreply@xxxxxxxxxxxxx>:
> 1 new changeset in eigen:
>
> http://www.bitbucket.org/eigen/eigen/changeset/6a47c9be16c6/
> changeset: r3476:6a47c9be16c6
> user: ggael
> date: 2010-10-31 23:26:01
> summary: Let's be safe: enable auto normalization is quaternion to angle-axis code since a slight numerical issue may trigger NaN. The overhead is small and I doubt the perf of this function could be critival for any application !
> affected #: 1 file (43 bytes)
>
> Repository URL: http://bitbucket.org/eigen/eigen/
>
> --
> This is a commit notification from bitbucket.org.
> You are receiving this because you have the service
> enabled, addressing the recipient of this email.
>
>
>