28 lines
800 B
C++
28 lines
800 B
C++
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// This file is part of libigl, a simple c++ geometry processing library.
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//
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// Copyright (C) 2013 Alec Jacobson <alecjacobson@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla Public License
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// v. 2.0. If a copy of the MPL was not distributed with this file, You can
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// obtain one at http://mozilla.org/MPL/2.0/.
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#include "column_to_quats.h"
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IGL_INLINE bool igl::column_to_quats(
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const Eigen::VectorXd & Q,
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std::vector<
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Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> > & vQ)
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{
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using namespace Eigen;
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if(Q.size() % 4 != 0)
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{
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return false;
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}
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const int nQ = Q.size()/4;
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vQ.resize(nQ);
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for(int q=0;q<nQ;q++)
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{
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// Constructor uses wxyz
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vQ[q] = Quaterniond( Q(q*4+3), Q(q*4+0), Q(q*4+1), Q(q*4+2));
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}
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return true;
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}
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