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[Toon-members] SO3 and rotoinversions?

From: Alex Flint
Subject: [Toon-members] SO3 and rotoinversions?
Date: Mon, 1 Feb 2010 11:23:20 +0000

Hi there,

Does the SO3 group include rotoinversions? If so, TooN::SO3 isn't handling them properly:

  Matrix<3> m = Identity;
  m[0][0] = -1;
  SO3<> r(m);
  cout << r << endl << SO3<>::exp(r.ln()) << endl;

results in:
  -1 0 0
  0 1 0
  0 0 1

  nan nan nan
  nan nan nan
  nan nan nan

If SO3 is not meant to handle this case then perhaps SO3::coerce() should force the matrix to have determinant 1, or output a warning/error?


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