| commit | d7f428e5c7907c1dfb2ff34bc543d17a838920a7 | [log] [tgz] |
|---|---|---|
| author | Sameer Agarwal <sameeragarwal@google.com> | Wed Aug 07 06:42:28 2019 -0700 |
| committer | Sameer Agarwal <sameeragarwal@google.com> | Wed Aug 07 06:42:28 2019 -0700 |
| tree | 7aea4748523cc483be6d210eed57d2e2ef6a31c7 | |
| parent | ea4d66e7e56f662f47ec8066dc0a89378dd9c3c6 [diff] |
Add a missing cast in rotation.h Thanks to Lukas Post (@deutschepost) for reporting this. https://github.com/ceres-solver/ceres-solver/issues/497 Change-Id: I6d9d0ca5feab3a1f4cf47613537e8cd7ab1ba479
diff --git a/include/ceres/rotation.h b/include/ceres/rotation.h index 8ba58ab..3020a2d 100644 --- a/include/ceres/rotation.h +++ b/include/ceres/rotation.h
@@ -307,7 +307,7 @@ // = atan(-sin(theta), -cos(theta)) // const T two_theta = - T(2.0) * ((cos_theta < 0.0) + T(2.0) * ((cos_theta < T(0.0)) ? atan2(-sin_theta, -cos_theta) : atan2(sin_theta, cos_theta)); const T k = two_theta / sin_theta;