[eigen] Transform.rotation() hang

[Ben Axelrod <baxelrod@xxxxxxxxxxxx>]

Sometimes calling Eigen::Transform.rotation() hangs and does not return.  

 

This transform matrix runs fine:

1            0   -1.931e-312  1

0            1    0           0

1.931e-312   0    1           1..5

0            0    0           1

 

This transform matrix hangs:

1            0   -2.357e-312  1

0            1    0           0

1.179e-311   0    5           7.5

0            0    0           1

 

 

Any help?

 

Detailed info: the transforms were computed by:

 

Tf * Tr * Qt * Sc

 

Where, for the good transform:

 

Tf = Transform:

1 0 0 1

0 1 0 0

0 0 1 0

0 0 0 1

 

Tr = Translation:

0

0

1.5

 

Qt = Quaternion:

0

-9.653e-313

0

1

 

Sc = Scaling:

1

1

1

 

 

And for the bad transform:

 

Tf = Transform:

1 0 0 1

0 1 0 0

0 0 5 0

0 0 0 1

 

Tr = Translation:

0

0

1.5

 

Qt = Quaternion:

0

-1.179e-312

0

1

 

Sc = Scaling:

1

1

1

 

 

Thanks,

-Ben