Bruno Chareyre said: (by the date of Wed, 27 Oct 2010 10:26:35 +0200)
> Question sent to Eigen forum
> (http://forum.kde.org/viewtopic.php?f=74&t=91129).
>
> Step 1 :
> cerr<<q
> -> 1 -1.56132e-11 7.47311e-11 -1.7066e-10
> cerr<<q.w()
> -> 1
> NaN angle found in angleAxisr(q)
try this:
std::cerr.precision(30);
> template<typename Scalar>
> AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionType& q)
> {
> Scalar n2 = q.vec().squaredNorm();
> _if (n2 < precision<Scalar>()*precision<Scalar>())_
> {
> m_angle = 0;
> m_axis << 1, 0, 0;
> }
> else
> {
> m_angle = 2*std::acos(q.w());<--------- here we are computing
> acos(1) in step 1 and 2 according to cerr...
> m_axis = q.vec() / ei_sqrt(n2);
> }
> return *this;
> }
So they are handling this case in fact, this is good news. The only
problem is that the handling isn't working :)
--
Janek Kozicki http://janek.kozicki.pl/ |
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