From 34539b7adad9c60cbe85e91c194dfe23e95f726a Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Mon, 8 Jan 2007 08:40:16 +0000
Subject: [PATCH] minor cleanup
[[Imported from SVN: r1123]]
---
src/quaternion.hh | 21 +--------------------
1 file changed, 1 insertion(+), 20 deletions(-)
diff --git a/src/quaternion.hh b/src/quaternion.hh
index ddd55033..47832ee2 100644
--- a/src/quaternion.hh
+++ b/src/quaternion.hh
@@ -162,16 +162,7 @@ public:
/** \brief Interpolate between two rotations */
static Quaternion<T> interpolate(const Quaternion<T>& a, const Quaternion<T>& b, double omega) {
-#if 0 // Interpolation in H plus normalization
- Quaternion<T> result;
-
- for (int i=0; i<4; i++)
- result[i] = a[i]*(1-omega) + b[i]*omega;
-
- result.normalize();
-
- return result;
-#else // Interpolation on the geodesic in SO(3) from a to b
+ // Interpolation on the geodesic in SO(3) from a to b
Quaternion<T> diff = a;
diff.invert();
@@ -190,20 +181,12 @@ public:
v *= omega;
return a.mult(exp(v[0], v[1], v[2]));
-#endif
-
}
/** \brief Interpolate between two rotations */
static Quaternion<T> interpolateDerivative(const Quaternion<T>& a, const Quaternion<T>& b,
double omega, double intervallLength) {
Quaternion<T> result;
-#if 0
-
- for (int i=0; i<4; i++)
- result[i] = a[i] / (-intervallLength) + b[i] / intervallLength;
-
-#else
// Interpolation on the geodesic in SO(3) from a to b
// diff = a^-1 b
@@ -250,8 +233,6 @@ public:
abort();
}
-#endif
- //std::cout << result << std::endl;
return result;
}
--
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