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maverick-long · maverick-long · commit 713c39ab7d99 · 2019-11-08T17:31:09.000-05:00
diff --git a/orocos_kdl/src/frames.cpp b/orocos_kdl/src/frames.cpp
@@ -413,8 +413,6 @@ double Rotation::GetRotAngle(Vector& axis,double eps) const {
         return angle; // return 180 deg rotation
     }
 
-    // If the matrix is slightly non-orthogonal, `f` may be out of the (-1, +1) range.
-    // Therefore, clamp it between those values to avoid NaNs.
     double f = (data[0] + data[4] + data[8] - 1) / 2;
 
     x = (data[7] - data[5]);

Original file line number	Diff line number	Diff line change
`@@ -413,8 +413,6 @@ double Rotation::GetRotAngle(Vector& axis,double eps) const {`
`413`	`413`	`return angle; // return 180 deg rotation`
`414`	`414`	`}`
`415`	`415`
`416`		- // If the matrix is slightly non-orthogonal, `f` may be out of the (-1, +1) range.
`417`		`- // Therefore, clamp it between those values to avoid NaNs.`
`418`	`416`	`double f = (data[0] + data[4] + data[8] - 1) / 2;`
`419`	`417`
`420`	`418`	`x = (data[7] - data[5]);`