Update Eigen to the latest stable release, 3.2.2
./Eigen/src/Core/util/NonMPL2.h is left untouched, so that
usage of non MPL2 code is disabled.
Change-Id: I86fc9257b3c30d0ca15b268d4ef07bf038bba7ca
diff --git a/Eigen/src/Geometry/AngleAxis.h b/Eigen/src/Geometry/AngleAxis.h
index 67197ac..553d38c 100644
--- a/Eigen/src/Geometry/AngleAxis.h
+++ b/Eigen/src/Geometry/AngleAxis.h
@@ -76,7 +76,7 @@
* \warning If the \a axis vector is not normalized, then the angle-axis object
* represents an invalid rotation. */
template<typename Derived>
- inline AngleAxis(Scalar angle, const MatrixBase<Derived>& axis) : m_axis(axis), m_angle(angle) {}
+ inline AngleAxis(const Scalar& angle, const MatrixBase<Derived>& axis) : m_axis(axis), m_angle(angle) {}
/** Constructs and initialize the angle-axis rotation from a quaternion \a q. */
template<typename QuatDerived> inline explicit AngleAxis(const QuaternionBase<QuatDerived>& q) { *this = q; }
/** Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix. */
@@ -137,7 +137,7 @@
* determined by \a prec.
*
* \sa MatrixBase::isApprox() */
- bool isApprox(const AngleAxis& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
+ bool isApprox(const AngleAxis& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
{ return m_axis.isApprox(other.m_axis, prec) && internal::isApprox(m_angle,other.m_angle, prec); }
};
@@ -161,6 +161,7 @@
using std::acos;
using std::min;
using std::max;
+ using std::sqrt;
Scalar n2 = q.vec().squaredNorm();
if (n2 < NumTraits<Scalar>::dummy_precision()*NumTraits<Scalar>::dummy_precision())
{
@@ -170,7 +171,7 @@
else
{
m_angle = Scalar(2)*acos((min)((max)(Scalar(-1),q.w()),Scalar(1)));
- m_axis = q.vec() / internal::sqrt(n2);
+ m_axis = q.vec() / sqrt(n2);
}
return *this;
}
@@ -202,9 +203,11 @@
typename AngleAxis<Scalar>::Matrix3
AngleAxis<Scalar>::toRotationMatrix(void) const
{
+ using std::sin;
+ using std::cos;
Matrix3 res;
- Vector3 sin_axis = internal::sin(m_angle) * m_axis;
- Scalar c = internal::cos(m_angle);
+ Vector3 sin_axis = sin(m_angle) * m_axis;
+ Scalar c = cos(m_angle);
Vector3 cos1_axis = (Scalar(1)-c) * m_axis;
Scalar tmp;