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ENH: Simplify mirror compute

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This commit is contained in:
David Allemang
2023-02-04 10:02:28 -05:00
parent 2e892a764e
commit f6e4392b51
1 changed files with 1 additions and 2 deletions
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3
vis/include/mirror.hpp
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@@ -18,11 +18,10 @@ Eigen::Matrix<float, N, N> mirror(const tc::Group<> &group) {
auto angle = M_PI / group.get(c, r);
auto dot = res.col(c).dot(res.col(r));
res(r, c) = (cos(angle) - dot) / res(r, r);
res(r, c) = (dot - cos(angle)) / res(r, r);
}
res(c, c) = sqrt(1 - res.col(c).squaredNorm());
res.col(c) *= -1;
}
return res;