| commit | cd358c760f19a128539905a63d8ca22079d0a7d5 | [log] [tgz] |
|---|---|---|
| author | Sameer Agarwal <sameeragarwal@google.com> | Wed Oct 29 17:31:40 2014 -0700 |
| committer | Sameer Agarwal <sameeragarwal@google.com> | Wed Nov 12 22:56:38 2014 -0800 |
| tree | 6ac389b8c60cfc85700f2aefea4f63c27f3df709 | |
| parent | 39e397b79369df3eb0c9833d7df0cf9bb43113b4 [diff] |
Fix RotationMatrixToAngleAxis near Pi. Use Eigen's much more complicated conversion routine when we encounter cases where the angle of rotation is close to Pi. Along the way also fix the way angle_axis vectors are compared by making the matcher more robust. Thanks to Tobias Strauss for reporting this. Change-Id: Ia7e65dafad92c48d29d5f3cd22c4d6534789c183