commit d2dce377670f1742f3f701b3585682d02f10bb92
author Rasmus Munk Larsen <rmlarsen@google.com> Mon Apr 21 14:11:42 2025 -0700
committer Rasmus Munk Larsen <rmlarsen@google.com> Mon Apr 21 14:11:42 2025 -0700
tree 767085b997edc122a15829499446c75003f41288
parent 66d8111ac108c7142dfdd51f095f570901778891

Optimize slerp() as proposed by Gopinath Vasalamarri.

Eigen/src/Geometry/Quaternion.h

diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h
index 822ab27..6a7cab2 100644
--- a/Eigen/src/Geometry/Quaternion.h
+++ b/Eigen/src/Geometry/Quaternion.h
@@ -793,7 +793,7 @@
   } else {
     // theta is the angle between the 2 quaternions
     Scalar theta = acos(absD);
-    Scalar sinTheta = sin(theta);
+    Scalar sinTheta = numext::sqrt(Scalar(1) - absD * absD);
 
     scale0 = sin((Scalar(1) - t) * theta) / sinTheta;
     scale1 = sin((t * theta)) / sinTheta;