| commit | 21d6a99fe68e99fa51db32d55f587b42ef9a476c | [log] [tgz] |
|---|---|---|
| author | Sameer Agarwal <sameeragarwal@google.com> | Fri Oct 25 10:20:24 2013 -0700 |
| committer | Sameer Agarwal <sameeragarwal@google.com> | Fri Oct 25 13:53:52 2013 -0700 |
| tree | e18814632f80349dfd319936c5c25f060258314b | |
| parent | 0e2743e24d013b25109396cfa0d8d0f1e8e84964 [diff] |
Fix AngleAxisToRotationMatrix near zero. The Taylor series approximation had its sign flipped and the tests did not catch it since we were switching exactly at zero, which was not getting triggered. This changes modifies the tolerance, adds a test that triggers and fixes the bug. Thanks to Michael Samples for reporting this. Change-Id: I6f92f6348e5d4421ffe194fba92c04285449484c