/ - Diff - BRIX5 - Research for Cognitive Interaction

Revision e8e79779

             return ret;
+        }
         double trace() const
+        {
             double tr = 0.0;
             for (int i = 0; i < N; ++i)
                 tr += cell(i, i);
             return tr;
+        }
     private:
         double _cell_data[N*N];
     };

utility/quaternion.h
126	126	_z = axis.z() * sht;
127	127	}
128	128
129		void fromMatrix(Matrix<3> m)
	129	void fromMatrix(const Matrix<3>& m)
130	130	{
131		float tr = m(0, 0) + m(1, 1) + m(2, 2);
	131	double tr = m.trace();
132	132
133		float S = 0.0;
	133	double S;
134	134	if (tr > 0)
135	135	{
136	136	S = sqrt(tr+1.0) * 2;
...	...
139	139	_y = (m(0, 2) - m(2, 0)) / S;
140	140	_z = (m(1, 0) - m(0, 1)) / S;
141	141	}
142		else if ((m(0, 0) < m(1, 1))&(m(0, 0) < m(2, 2)))
	142	else if (m(0, 0) > m(1, 1) && m(0, 0) > m(2, 2))
143	143	{
144	144	S = sqrt(1.0 + m(0, 0) - m(1, 1) - m(2, 2)) * 2;
145	145	_w = (m(2, 1) - m(1, 2)) / S;
...	...
147	147	_y = (m(0, 1) + m(1, 0)) / S;
148	148	_z = (m(0, 2) + m(2, 0)) / S;
149	149	}
150		else if (m(1, 1) < m(2, 2))
	150	else if (m(1, 1) > m(2, 2))
151	151	{
152	152	S = sqrt(1.0 + m(1, 1) - m(0, 0) - m(2, 2)) * 2;
153	153	_w = (m(0, 2) - m(2, 0)) / S;

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