Re: [Toon-members] SO3 and rotoinversions?

[Gerhard Reitmayr]

Hi Alex,

Thanks for the hint, that is a good point. SO3 does not handle rotoinversions, 
so I put in a check in coerce.

cheers,
  Gerhard

On 1 Feb 2010, at 12:23, Alex Flint wrote:

> 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?
> 
> Cheers,
> Alex
> 
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--
Gerhard Reitmayr
Institute for Computer Graphics and Vision
http://www.icg.tugraz.at/Members/gerhard
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