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AxisAngle: call q.imag().norm() for conversion

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This is important depending on the platform because norm()
calls matrix::squrt() which dispatches correctly to the implementation
for the used type. Otherwise float squrt()s can get calculated as
double.
This commit is contained in:
Matthias Grob
2020-03-12 07:35:44 +01:00
committed by Mathieu Bresciani
parent 4873dc1c1e
commit 2cca35c8fe
1 changed files with 1 additions and 1 deletions
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matrix/AxisAngle.hpp
+1 -1
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@@ -69,7 +69,7 @@ public:
AxisAngle(const Quaternion<Type> &q) AxisAngle(const Quaternion<Type> &q)
{ {
AxisAngle &v = *this; AxisAngle &v = *this;
Type mag = Type(sqrt(q(1) * q(1) + q(2) * q(2) + q(3) * q(3))); Type mag = q.imag().norm();
if (fabs(mag) >= Type(1e-10)) { if (fabs(mag) >= Type(1e-10)) {
v = q.imag() * Type(Type(2) * atan2(mag, q(0)) / mag); v = q.imag() * Type(Type(2) * atan2(mag, q(0)) / mag);
} else { } else {