commit 104ad902b6daf956b5fb79e663d4335f95e9ad2f
author Sameer Agarwal <sameeragarwal@google.com> Tue Jul 17 08:24:31 2012 -0700
committer Sameer Agarwal <sameeragarwal@google.com> Tue Jul 17 11:30:31 2012 -0700
tree 3df98f52959aba465cf800c58a04e70c25a9722d
parent 1d7c49224a343a9b0a96be15dec12fc11690bde2

Fixed Jet to integer comparison.

Thanks to Keith Leung for reporting this.

Change-Id: I97c2eb87a5cf6779779e659aaa716dc507824def

include/ceres/rotation.h

diff --git a/include/ceres/rotation.h b/include/ceres/rotation.h
index 6c0d58e..16bfc8a 100644
--- a/include/ceres/rotation.h
+++ b/include/ceres/rotation.h
@@ -252,7 +252,7 @@
 
   // Case 2: theta ~ 0, means sin(theta) ~ theta to a good
   // approximation.
-  if (costheta > 0) {
+  if (costheta > 0.0) {
     const T kHalf = T(0.5);
     for (int i = 0; i < 3; ++i) {
       angle_axis[i] *= kHalf;
@@ -277,8 +277,8 @@
   // angle_axis[i] should be positive, otherwise negative.
   for (int i = 0; i < 3; ++i) {
     angle_axis[i] = theta * sqrt((R[i*4] - costheta) * inv_one_minus_costheta);
-    if (((sintheta < 0) && (angle_axis[i] > 0)) ||
-        ((sintheta > 0) && (angle_axis[i] < 0))) {
+    if (((sintheta < 0.0) && (angle_axis[i] > 0.0)) ||
+        ((sintheta > 0.0) && (angle_axis[i] < 0.0))) {
       angle_axis[i] = -angle_axis[i];
     }
   }