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